@operato/scene-storage 10.0.0-beta.38 → 10.0.0-beta.41

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (44) hide show
  1. package/CHANGELOG.md +25 -0
  2. package/dist/box.js +18 -0
  3. package/dist/box.js.map +1 -1
  4. package/dist/crane-3d.d.ts +47 -2
  5. package/dist/crane-3d.js +246 -89
  6. package/dist/crane-3d.js.map +1 -1
  7. package/dist/crane.d.ts +96 -12
  8. package/dist/crane.js +395 -100
  9. package/dist/crane.js.map +1 -1
  10. package/dist/pallet.d.ts +15 -0
  11. package/dist/pallet.js +38 -2
  12. package/dist/pallet.js.map +1 -1
  13. package/dist/parcel-3d.js +22 -18
  14. package/dist/parcel-3d.js.map +1 -1
  15. package/dist/parcel.d.ts +4 -3
  16. package/dist/parcel.js +24 -5
  17. package/dist/parcel.js.map +1 -1
  18. package/dist/storage-cell.d.ts +5 -2
  19. package/dist/storage-cell.js +21 -3
  20. package/dist/storage-cell.js.map +1 -1
  21. package/dist/storage-rack-3d.js +42 -7
  22. package/dist/storage-rack-3d.js.map +1 -1
  23. package/dist/storage-rack.d.ts +26 -2
  24. package/dist/storage-rack.js +92 -10
  25. package/dist/storage-rack.js.map +1 -1
  26. package/package.json +3 -3
  27. package/src/box.ts +18 -0
  28. package/src/crane-3d.ts +258 -93
  29. package/src/crane.ts +445 -110
  30. package/src/pallet.ts +50 -1
  31. package/src/parcel-3d.ts +23 -18
  32. package/src/parcel.ts +24 -5
  33. package/src/storage-cell.ts +23 -3
  34. package/src/storage-rack-3d.ts +47 -8
  35. package/src/storage-rack.ts +110 -10
  36. package/test/test-cell-position.ts +105 -0
  37. package/test/test-crane-geometry.ts +167 -0
  38. package/test/test-phase-h-carrier-pickable.ts +4 -3
  39. package/translations/en.json +5 -1
  40. package/translations/ja.json +5 -1
  41. package/translations/ko.json +5 -1
  42. package/translations/ms.json +5 -1
  43. package/translations/zh.json +5 -1
  44. package/tsconfig.tsbuildinfo +1 -1
package/dist/crane.js.map CHANGED
@@ -1 +1 @@
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- 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* Copyright © HatioLab Inc. All rights reserved.\n */\nimport { Component, ComponentNature, ContainerAbstract, ContainerCapacity, RealObject, sceneComponent } from '@hatiolab/things-scene'\nimport type { SlotDef, State, Material3D } from '@hatiolab/things-scene'\nimport {\n CarrierHolder,\n Legendable,\n Mover,\n Placeable,\n type AttachFrame,\n type Alignment,\n type Heights,\n type LegendBinding,\n type MoveOptions,\n type PlacementArchetype\n} from '@operato/scene-base'\n\nimport { Crane3D } from './crane-3d.js'\n\n/**\n * Crane status — the operating state of a stacker crane.\n *\n * - `idle` — parked at home position\n * - `moving` — translating (horizontal) or along the mast (vertical);\n * typically combined\n * - `loading` — extracting a carrier from a rack cell\n * - `unloading` — placing a carrier into a rack cell\n * - `error` — fault / e-stop / collision warning\n */\nexport type CraneStatus = 'idle' | 'moving' | 'loading' | 'unloading' | 'error'\n\n/** Crane 컴포넌트 state */\nexport interface CraneState extends State {\n // ── 운영 상태 ──\n status?: CraneStatus\n\n /**\n * Crane 이 서비스 할 타깃 컴포넌트의 refid (또는 id).\n * 명시되면 그 컴포넌트 (또는 그 children) 의 위치를 stop point 로 사용 — heuristic\n * 으로 sibling 추정 안 함. 미명시면 sibling 안에서 추측.\n * 예: RackGrid 의 refid 를 지정하면 그 안의 cell 들 사이에서만 이동.\n */\n target?: string\n\n // ── 액추에이터 ──\n /** 마스트 따라 carriage 의 수직 위치 (mm). */\n carriageHeight?: number\n /**\n * Fork prong 의 최대 신축 가능 길이 (mm). cell 깊이 + 여유.\n * 일반적으로 pallet 깊이 (1200mm) + 여유 ≈ 1300mm 또는 그 이하 (default 600).\n */\n forkLength?: number\n /**\n * Fork 의 *현재 신축 거리* (mm). 0 = collapsed (shuttle 안 들어가있음),\n * forkLength = fully extended (cell 안 carrier 의 fork pocket 도달).\n *\n * 시뮬레이션 흐름:\n * idle: 0\n * approach → 0\n * pick / place: 0 → forkLength (extending) → 0 (retracting with carrier)\n */\n forkExtension?: number\n /**\n * Fork 의 *carrier 들어올림 높이* (mm). 0 = neutral (cell shelf 와 같은 면),\n * +값 = carrier 를 *위로* 들어올림 (fork pocket 안으로 진입 후 위로 lifting).\n */\n forkLift?: number\n\n // ── 3D 재질 ──\n material3d?: Material3D\n}\n\nconst BODY_LEGEND = {\n idle: '#888',\n moving: '#aabbcc',\n loading: '#ffaa00',\n unloading: '#ffaa00',\n error: '#c66',\n default: '#888'\n}\n\nconst LAMP_EMISSIVE_LEGEND = {\n idle: '#222222',\n moving: '#44ff44',\n loading: '#ffaa00',\n unloading: '#ffaa00',\n error: '#ff3333',\n default: '#222222'\n}\n\nconst NATURE: ComponentNature = {\n mutable: false,\n resizable: true,\n rotatable: true,\n properties: [\n {\n type: 'select',\n label: 'status',\n name: 'status',\n property: {\n options: [\n { display: 'Idle', value: 'idle' },\n { display: 'Moving', value: 'moving' },\n { display: 'Loading', value: 'loading' },\n { display: 'Unloading', value: 'unloading' },\n { display: 'Error', value: 'error' }\n ]\n }\n },\n {\n type: 'string',\n label: 'target',\n name: 'target',\n placeholder: 'refid of target (e.g., a RackGrid) — crane serves only its cells'\n },\n {\n type: 'number',\n label: 'carriage-height',\n name: 'carriageHeight',\n placeholder: 'mm — height of carriage on mast'\n },\n {\n type: 'number',\n label: 'fork-length',\n name: 'forkLength',\n placeholder: 'mm — fork prong 최대 신축 길이 (default 600)'\n },\n {\n type: 'number',\n label: 'fork-extension',\n name: 'forkExtension',\n placeholder: 'mm — 현재 신축 거리 (0 = collapsed)'\n },\n {\n type: 'number',\n label: 'fork-lift',\n name: 'forkLift',\n placeholder: 'mm — carrier 들어올림 높이 (+ 위로)'\n }\n ],\n help: 'scene/component/crane'\n}\n\n// Mixin chain: Mover → CarrierHolder → ContainerCapacity → Legendable → Placeable → ContainerAbstract\n//\n// Mover: pick / place / pickAndPlace / moveTo / engage primitives\n// CarrierHolder: attachPointFor() — where the carrier sits on the crane (carriage fork)\n// ContainerCapacity: receive() / dispatch() / canReceive() / slots — slot tracking +\n// TRANSFER_SLOT_KEY bookkeeping during transit\n// Legendable: status → bodyColor / lampEmissive colour mapping\n// Placeable: floor-archetype 3D positioning\n// ContainerAbstract: child management — carrier becomes a child while in transit\n//\n// Note: ContainerAbstract replaces Shape. The 2D outline is drawn manually in\n// render() below (a simple top-down rectangle), matching the old Shape output\n// without the Shape base-class overhead.\n/**\n * Crane — a stacker / retrieval picker. Picker contract instance.\n *\n * Moves carriers between rack cells (or any Placeable target). The crane\n * is *picker-side* of the Phase G/H Pickable contract — it knows how to\n * `pick(carrier)` / `place(carrier, target)` and `engage(target, kind)`\n * to align its actuators. It is *storage-agnostic* — any Rack / Cell /\n * Spot / Conveyor that implements the receive/dispatch protocol is a\n * valid target.\n *\n * Structure: a tall vertical mast that translates horizontally on a rail\n * or free floor path, with a carriage that slides up/down the mast carrying\n * a shuttle / forks.\n *\n * **Monitoring mode**: crane status is driven by external data binding\n * (`state.status`, `state.carriageHeight`). The carrier is referenced\n * via data binding — it is NOT a child of the crane in monitoring mode.\n *\n * **Simulation mode**: call `crane.pick(carrier)` / `crane.place(carrier, target)`\n * (or `crane.pickAndPlace(carrier, target)`). Mover handles navigation +\n * engage + reparent. During transit the carrier IS a child of the crane.\n */\n@sceneComponent('crane')\nexport default class Crane extends Mover(CarrierHolder(ContainerCapacity(Legendable(Placeable(ContainerAbstract))))) {\n declare state: CraneState\n declare _realObject?: Crane3D\n\n static legends: Record<string, LegendBinding> = {\n bodyColor: { from: 'status', legend: BODY_LEGEND },\n lampEmissive: { from: 'status', legend: LAMP_EMISSIVE_LEGEND }\n }\n\n static placement: PlacementArchetype = 'floor'\n static align: Alignment = 'bottom'\n static defaultDepth = (h: Heights) => h.ceiling - h.floor\n\n /** Yaw offset: crane model is drawn with the rail axis along X (right = forward). */\n static yawOffset = 0\n\n /**\n * Phase H — the crane uses telescoping forks to pick up a carrier in a rack\n * cell. Same mechanism as a forklift fork — engages the pallet's fork pocket.\n * (Mover mixin chain is `: any` so override keyword is not usable, only the\n * getter is defined.)\n */\n get toolType(): string {\n return 'forklift-fork'\n }\n\n get nature() {\n return NATURE\n }\n\n get anchors() {\n return []\n }\n\n // ── ContainerCapacity ─────────────────────────────────────────────────────\n\n /** Stacker crane carries at most one load at a time on its forks. */\n get slots(): SlotDef[] {\n return [{ id: 'forks', maxCount: 1 }]\n }\n\n // ── CarrierHolder — attach frame (carriage fork position) ─────────────────\n\n /**\n * Return the 3D attach frame on the crane's carriage (fork tip).\n * Carriers are attached here while the crane is in transit (pick phase).\n *\n * The Crane3D exposes `getCarriageFrame()` — a sub-Object3D that\n * tracks the carriage height and sits at the fork TCP. If the 3D object\n * isn't built yet (e.g. before scene initialization), fall back to the\n * crane's own object3d centre.\n */\n attachPointFor(carrier: Component): AttachFrame | null {\n const ro = this._realObject\n const frame = ro?.getCarriageFrame?.()\n if (frame) {\n const carrierDepth = resolveCarrierDepth(carrier)\n // fork blade 위 (top surface) 에 pallet pocket 끼우듯 얹힘. y = blade top + carrier/2.\n // z = blade 중심 (forkLength 의 반쪽 위치 — pallet center 가 blade 중간에 위치).\n const platformTopY = ro?.platformTopY ?? 0\n const bladeMidZ = ro?.bladeMidZ ?? 0\n return {\n attach: frame,\n localPosition: { x: 0, y: platformTopY + carrierDepth / 2, z: bladeMidZ }\n }\n }\n const root = this._realObject?.object3d\n if (!root) return null\n return { attach: root }\n }\n\n // ── Mover overrides ───────────────────────────────────────────────────────\n\n /**\n * Domain-specific actuation between arrival and reparent.\n *\n * Simulation sequence for PICK:\n * 1. Mover.pick() navigates crane to carrier position (moveTo).\n * 2. engage('pick') → snap carriage height + status 'loading'.\n * 3. Carrier is reparented to crane (becomes child).\n *\n * For now: set status and snap carriage height. A full simulation\n * would tween the carriageHeight here (animate Crane3D).\n *\n * Status lifecycle:\n * idle → (moveTo running) → engage fires → loading/unloading → (reparent) → idle\n * The 'moving' state is not set from Mover.moveTo() because TypeScript\n * can't call super.moveTo() on an `: any`-typed mixin. External data\n * binding sets 'moving' in monitoring mode; override pick()/place() to\n * set it in full simulation environments.\n */\n async engage(\n target: Component,\n kind: 'pick' | 'place',\n _options: MoveOptions = {}\n ): Promise<void> {\n if (kind === 'pick') {\n this.setState({ status: 'loading' as CraneStatus })\n const carrierY = resolveCarrierCenterY(target)\n if (carrierY !== null) {\n this.setState({ carriageHeight: carrierY })\n }\n } else {\n this.setState({ status: 'unloading' as CraneStatus })\n }\n // In a full simulation: await carriage-motion tween here.\n }\n\n // ── Domain aliases ────────────────────────────────────────────────────────\n\n /** Fetch a carrier from a rack cell (semantically = pick). */\n fetch(carrier: Component, options?: MoveOptions): Promise<void> {\n return this.pick(carrier, options)\n }\n\n /** Deposit a carrier into a rack cell (semantically = place). */\n deposit(carrier: Component, cell: Component, options?: MoveOptions): Promise<void> {\n return this.place(carrier, cell, options)\n }\n\n // ── 2D rendering ─────────────────────────────────────────────────────────\n\n /**\n * 2D top-down 표현 — 크레인으로 명확히 인식되도록 핵심 부품 그림:\n *\n * - rail (테두리 양쪽 가장자리, dark gray)\n * - twin masts (orange, 옆으로 배치) ← 시각 identity 핵심\n * - carriage (yellow, mast 사이) ← 작은 사각형\n * - forks (yellow, 두 평행선, cross-rail 방향으로 forkLength × extension 비율로 신축)\n * - carrier (lift 됐을 때만, gray 박스 + 들림 표시 ▲)\n *\n * 숨은 축 표현:\n * - carriageHeight (mast Y): 오른쪽 mast 옆 세로 게이지 — fill 비율 = carriageHeight/depth\n * - forkLift (carrier 들기): carrier 가 lift 상태일 때 outline + ▲ 마크\n *\n * 컨벤션: width = rail (X), height = cross-rail (Y, fork 신축 방향).\n * state.rotation 은 canvas 가 처리 (다른 컴포넌트와 동일).\n */\n render(ctx: CanvasRenderingContext2D) {\n const state = this.state as any\n const width = num(state.width, 100)\n const height = num(state.height, 200)\n const left = num(state.left, 0)\n const top = num(state.top, 0)\n\n const depth = num(state.depth, Math.max(width, height) * 4)\n const carriageHeight = clamp(num(state.carriageHeight, 0), 0, depth)\n const forkExtension = num(state.forkExtension, 0) // ± (rail 양쪽 rack)\n const forkLift = num(state.forkLift, 0)\n\n const cx = left + width / 2\n const cy = top + height / 2\n // 적재 여부 — forkLift > 0 (시뮬 중 들어올린 상태) 또는 state.loaded 명시.\n // monitoring 모드는 외부 데이터로 state.loaded 바인딩.\n const carrying = forkLift > 0 || !!state.loaded || !!state.carrying\n\n // 높이 비율 (1F=0 → 최상층=1). carriage / carrier 의 크기 scale 에 공통 사용.\n const heightRatio = depth > 0 ? clamp(carriageHeight / depth, 0, 1) : 0\n const sizeMul = 0.5 + heightRatio * 0.5 // 50% (1F) → 100% (최상층)\n\n const MAST = '#ff7a00' // 주황 — 마스트\n const CARRIAGE_C = '#ffcc00' // 노랑 — carriage shuttle 본체\n const FORK_C = '#a8b0b8' // 은회색 — fork prong (금속 느낌, carriage 와 구분)\n const DARK = '#3a4048'\n // Carrier — 팔레트 갈색 (carriage 노랑 위에서 대비). lift 시 darker + 두꺼운 외곽.\n const CARRIER = forkLift > 0 ? '#7d5530' : '#a08864'\n const CARRIER_LINE = '#3a2a18'\n\n ctx.save()\n\n // 1. Rail — 위/아래 두 줄\n const railW = Math.max(1.5, height * 0.03)\n ctx.fillStyle = DARK\n ctx.fillRect(left, top, width, railW)\n ctx.fillRect(left, top + height - railW, width, railW)\n\n // 2. Twin masts — 두 orange 사각형. mast 길이가 *3D 의 mast height (depth)* 를\n // 의미하므로, 그 위에 carriage 위치 indicator 를 매핑하면 1층/N층 인식 가능.\n const mastW = Math.max(2.5, width * 0.07)\n const mastSpacing = width * 0.75 // 넉넉히 — carrier 가 mast 잠식 안 하도록\n const mastY = top + railW\n const mastH = height - railW * 2\n const mastX1 = cx - mastSpacing / 2 - mastW / 2\n const mastX2 = cx + mastSpacing / 2 - mastW / 2\n ctx.fillStyle = MAST\n ctx.fillRect(mastX1, mastY, mastW, mastH)\n ctx.fillRect(mastX2, mastY, mastW, mastH)\n\n // 2-a. Floor tick marks — mast 위에 N 단계 (예: 5 단) 가로 줄. 층 가늠.\n const numFloors = 5\n ctx.fillStyle = 'rgba(0,0,0,0.25)'\n for (let i = 1; i < numFloors; i++) {\n const tickY = mastY + (mastH * i) / numFloors - 0.5\n ctx.fillRect(mastX1, tickY, mastW, 1)\n ctx.fillRect(mastX2, tickY, mastW, 1)\n }\n\n // 2-b. Carriage 위치 indicator — 마스트 *중심 고정* + *size = carriageHeight 비율*.\n // 1층 (=0): 얇은 선. 최상층 (=depth): 마스트 길이의 100%. 성장/수축 = 상승/하강.\n const indLen = Math.max(2, mastH * heightRatio)\n const indY = mastY + mastH / 2 - indLen / 2\n const indWidth = mastW + 4\n ctx.fillStyle = '#5a3a00' // 어두운 갈색 — orange mast 위에서 강한 대비\n ctx.fillRect(mastX1 - 2, indY, indWidth, indLen)\n ctx.fillRect(mastX2 - 2, indY, indWidth, indLen)\n\n // 3. Carriage (= 적재 deck) — 팔레트 1200×800mm aspect 반영. *폭만* sizeMul 적용 (높이감),\n // 길이 (Y) 고정. carrier / fork 모두 이 carriage 기준으로 derive.\n const carriageW = (mastSpacing - mastW) * sizeMul\n const carriageH = Math.min((mastSpacing - mastW) * 1.3, (height - railW * 2) * 0.55)\n const carriageX = cx - carriageW / 2\n const carriageY = cy - carriageH / 2\n ctx.fillStyle = CARRIAGE_C\n ctx.fillRect(carriageX, carriageY, carriageW, carriageH)\n\n // 4. Fork — 좌우 균형:\n // - 양쪽 모두 *작은 stub* 항상 표시 (crane 이 양쪽 rack 사이 있는 인상)\n // - extension 부호 (+/-) 에 따라 active 쪽이 추가로 신축\n // - 신축 길이 = |forkExtension| (실제 reach 만큼)\n const stubLen = Math.max(2, carriageH * 0.5)\n // 포크 폭 — carriage 의 80% (carrier 90% 보다 약간 좁아 carrier 가 fork 양옆으로\n // 살짝 overhang). carriage 가 sizeMul 적용된 폭이라 fork 도 자동 scale 반영.\n const forkW = carriageW * 0.8\n const forkX = cx - forkW / 2\n const extLen = Math.abs(forkExtension)\n const sign = forkExtension >= 0 ? 1 : -1\n ctx.fillStyle = FORK_C\n // 항상 양쪽 stub\n ctx.fillRect(forkX, carriageY - stubLen, forkW, stubLen) // top stub\n ctx.fillRect(forkX, carriageY + carriageH, forkW, stubLen) // bottom stub\n // active 쪽 추가 신축\n if (extLen > 0.5) {\n if (sign > 0) {\n ctx.fillRect(forkX, carriageY + carriageH + stubLen, forkW, extLen)\n } else {\n ctx.fillRect(forkX, carriageY - stubLen - extLen, forkW, extLen)\n }\n }\n\n // 5. Carrier — *팔레트 크기* 정사각형. 신축 시 fork 끝 (cell 안쪽) 에 배치.\n // - extLen > 0: carrier 가 fork 끝 (cell 안) — pallet 이 cell 로 들어가는 인상\n // - retracted (extLen=0): carriage 중심 — transit 자세\n // - forkLift > 0: 진한 갈색 + 두꺼운 outline (들린 상태 시인)\n if (carrying) {\n // 팔레트 — 항상 carriage 의 90% (폭/길이 모두). carriage 가 sizeMul 적용된 폭이라\n // carrier 도 자동으로 sizeMul 반영. 길이는 carriage 길이 고정에 따라 고정.\n const carrW = carriageW * 0.9\n const carrH = carriageH * 0.9\n let carrCenterY: number\n if (extLen > 0.5) {\n // 포크의 *중간* 에 carrier 배치 — fork prong 이 pallet pocket 에 끼워진 자연스러운\n // 위치 (현실 AS/RS 에서 pallet 이 fork 끝이 아닌 fork 길이 중간 부근에 안착).\n const forkMid = (stubLen + extLen) / 2\n carrCenterY = sign > 0\n ? carriageY + carriageH + forkMid\n : carriageY - forkMid\n } else {\n carrCenterY = cy // transit\n }\n const carrX = cx - carrW / 2\n const carrY = carrCenterY - carrH / 2\n\n // 들린 상태 — drop shadow 로 *떠 있는* 인상 (forkLift > 0). offset 비율 = lift 강도.\n if (forkLift > 0) {\n const forkLengthRef = num(state.forkLength, height * 0.4)\n const liftMax = Math.max(forkLengthRef * 0.05, 20) // forkLift 정상 범위\n const liftRatio = clamp(forkLift / liftMax, 0.3, 1) // 최소 30% 표시 (있다는 것만 보이게)\n const shadowOff = Math.max(2, Math.min(carrW, carrH) * 0.14) * liftRatio\n ctx.fillStyle = 'rgba(0, 0, 0, 0.4)'\n ctx.fillRect(carrX + shadowOff, carrY + shadowOff, carrW, carrH)\n }\n\n // Carrier 본체\n ctx.fillStyle = CARRIER\n ctx.fillRect(carrX, carrY, carrW, carrH)\n ctx.strokeStyle = CARRIER_LINE\n ctx.lineWidth = forkLift > 0 ? 1.5 : 0.8\n ctx.strokeRect(carrX, carrY, carrW, carrH)\n }\n\n // Cargo (carrier) 가 fork 위에 얹혀 fork 신축과 함께 이동하므로 그 자체로 방향\n // (loading/unloading) 이 자연 인식. 별도 status 배지 없음.\n\n // (carriageHeight 시각화는 mast 위 dark band + floor ticks 로 통합 — 별도 측면 게이지 제거)\n\n ctx.restore()\n }\n\n // ── Lifecycle — simulate() 자동 시작 ────────────────────────────────────\n\n added(parent: any): void {\n super.added?.(parent)\n if (this._simStarted) return\n this._simStarted = true\n // 초기 지연 800~2800ms 사이 random — 여러 crane 이 동기적으로 시작하지 않도록.\n // added 에서 시작 → 2D/3D 모드 무관. buildRealObject 는 3D 진입 시만 호출돼 시점이\n // 늦거나 누락될 수 있으므로 부적합.\n const initialDelay = 800 + Math.random() * 2000\n setTimeout(() => {\n this.simulate().catch(e => console.error('[Crane] simulate', e))\n }, initialDelay)\n }\n\n // ── 3D ───────────────────────────────────────────────────────────────────\n\n buildRealObject(): RealObject | undefined {\n return new Crane3D(this)\n }\n\n // ── Random animation (visual smoke test) ─────────────────────────────────\n // things-scene 의 component.animate() (frameClock 기반, pause/speed 대응) 를 사용.\n\n private _simStarted = false\n private _simRunning = false\n private _simAbort = false\n // Rail = crane 의 *로컬 X 축* (state.rotation 적용). simulate 진입 시 1회 계산해서 캐시.\n private _railOriginX = 0\n private _railOriginY = 0\n private _railCos = 1\n private _railSin = 0\n private _railMin = NaN // local-X 축 rail offset min\n private _railMax = NaN // local-X 축 rail offset max\n private _targetSide = 1 // +Z (fork +Z 로 뻗어야 하나) / -Z\n\n /** Continuous random pick → transport → place cycles. Visual smoke test. */\n async simulate(): Promise<void> {\n if (this._simRunning) return\n this._simRunning = true\n this._simAbort = false\n try {\n this._initRailRange()\n while (!this._simAbort) {\n await this._oneCycle()\n }\n } finally {\n this._simRunning = false\n }\n }\n\n /**\n * state.target bbox 를 crane 의 *로컬 X 축* 으로 projection 해서 rail range 1회 계산.\n * Rotation 적용된 crane 의 local X (= rail) 방향으로 움직이도록 cos/sin 캐시.\n */\n private _initRailRange(): void {\n this._railMin = this._railMax = NaN\n\n // 1순위: state.target refid 로 명시. 2순위: crane 의 parent 컴포넌트 (자연스러운\n // \"이 컨테이너 안에서만 움직여\" 기본값).\n const targetRefId = (this.state as any).target as string | undefined\n const root = (this as any).root\n let target = targetRefId ? root?.findById?.(targetRefId) : null\n if (!target) {\n const parent = (this as any).parent\n // parent 가 root/model-layer 같은 top-level 이면 bbox 가 의미없음 → skip\n if (parent && parent !== root && (parent.state as any)?.width > 0) {\n target = parent\n }\n }\n if (!target) return\n\n const tState = target.state ?? {}\n const tl = numOr(tState.left, 0)\n const tt = numOr(tState.top, 0)\n const tw = numOr(tState.width, 0)\n const th = numOr(tState.height, 0)\n if (tw <= 0 || th <= 0) return\n\n const W = numOr((this.state as any).width, 100)\n const H = numOr((this.state as any).height, 100)\n const rotation = numOr((this.state as any).rotation, 0)\n const cos = Math.cos(rotation)\n const sin = Math.sin(rotation)\n\n // Rail origin = crane 의 현재 canvas center. 이 점에서 local X 방향으로 ±rail offset.\n this._railOriginX = numOr((this.state as any).left, 0) + W / 2\n this._railOriginY = numOr((this.state as any).top, 0) + H / 2\n this._railCos = cos\n this._railSin = sin\n\n // Target bbox 4 corner 를 crane local frame 으로 projection.\n // local X (rail) = dx*cos + dy*sin\n // local Z (aisle) = -dx*sin + dy*cos\n const corners = [\n { x: tl, y: tt },\n { x: tl + tw, y: tt },\n { x: tl, y: tt + th },\n { x: tl + tw, y: tt + th }\n ]\n let minRail = Infinity\n let maxRail = -Infinity\n let aisleSum = 0\n for (const c of corners) {\n const dx = c.x - this._railOriginX\n const dy = c.y - this._railOriginY\n const rail = dx * cos + dy * sin\n const aisle = -dx * sin + dy * cos\n if (rail < minRail) minRail = rail\n if (rail > maxRail) maxRail = rail\n aisleSum += aisle\n }\n // Crane 자체 W 만큼 안쪽으로 좁혀 — crane center 가 [minRail+W/2, maxRail-W/2] 안에\n // 있으면 crane 전체가 target bbox 안 (local X 방향).\n this._railMin = minRail + W / 2\n this._railMax = Math.max(this._railMin, maxRail - W / 2)\n this._targetSide = aisleSum >= 0 ? +1 : -1\n }\n\n stopSimulate(): void {\n this._simAbort = true\n // 진행 중인 animate() controller 도 즉시 정지 — onComplete 가 호출되어 _tween Promise\n // 가 resolve → simulate() while 루프가 다음 반복에서 _simAbort 보고 종료. 이걸로\n // 루프 stack 의 strong ref 해소, frameClock subscription 해제.\n const ctrl = (this as any)._animate\n if (ctrl && typeof ctrl.stop === 'function') {\n try { ctrl.stop() } catch {}\n }\n }\n\n /**\n * 컴포넌트 dispose 시 (보드 종료, scene reload 등) 진행 중 simulate 루프와 animate\n * subscription 을 정리. 미정리 시 루프의 await stack 이 component 를 strong reference\n * 로 잡아 GC 안 됨 + frameClock 콜백 살아남음.\n */\n dispose(): void {\n this.stopSimulate()\n super.dispose?.()\n }\n\n private async _oneCycle(): Promise<void> {\n const W = numOr((this.state as any).width, 100)\n const H = numOr((this.state as any).height, 100)\n const D = numOr((this.state as any).depth, W * 4)\n const forkLen = numOr((this.state as any).forkLength, H * 0.6)\n\n if (!Number.isFinite(this._railMin) || !Number.isFinite(this._railMax)) {\n await new Promise(r => setTimeout(r, 800))\n return\n }\n\n const pickRail = () => this._railMin + Math.random() * Math.max(0, this._railMax - this._railMin)\n const toLeftTop = (rail: number) => ({\n left: this._railOriginX + rail * this._railCos - W / 2,\n top: this._railOriginY + rail * this._railSin - H / 2\n })\n\n const source = toLeftTop(pickRail())\n const dest = toLeftTop(pickRail())\n\n const sourceCH = Math.random() * D * 0.75\n const destCH = Math.random() * D * 0.75\n const liftH = Math.max(20, D * 0.02)\n // 양쪽 rack 모두 서비스 — source/dest 각각 ±Z random (cycle 별 다름).\n const sideA = Math.random() < 0.5 ? -1 : +1\n const sideB = Math.random() < 0.5 ? -1 : +1\n\n // Tween duration 은 base 의 70~130% 사이 random — 여러 crane 이 같은 타이밍으로 안 보이도록.\n const jitter = (base: number): number => base * (0.7 + Math.random() * 0.6)\n\n // 이동: crane local X 방향 → canvas (left, top) 둘 다 동시 변경 (rotation 적용 시 diagonal)\n await this._tween({ status: 'moving', left: source.left, top: source.top, carriageHeight: sourceCH }, jitter(1500))\n await this._tween({ status: 'loading', forkExtension: sideA * forkLen }, jitter(700))\n await this._tween({ forkLift: liftH }, jitter(400))\n await this._tween({ forkExtension: 0 }, jitter(700))\n await this._tween({ status: 'moving', left: dest.left, top: dest.top, carriageHeight: destCH }, jitter(1500))\n await this._tween({ status: 'unloading', forkExtension: sideB * forkLen }, jitter(700))\n await this._tween({ forkLift: 0 }, jitter(400))\n await this._tween({ status: 'idle', forkExtension: 0 }, jitter(700))\n\n // 사이클 사이 짧은 idle (200~1000ms) — 자연스러운 phase 분산\n await new Promise(r => setTimeout(r, 200 + Math.random() * 800))\n }\n\n /**\n * things-scene 의 `component.animate()` 로 한 구간 tween. step 콜백에서 setState 호출.\n * frameClock.simTime 기반이라 scene pause / speed change / suppressAnimations 모두 자동 대응.\n */\n private _tween(targets: Record<string, any>, duration: number): Promise<void> {\n const start: Record<string, number> = {}\n for (const k of Object.keys(targets)) {\n if (k === 'status') continue\n const v = (this.state as any)[k]\n start[k] = typeof v === 'number' && Number.isFinite(v) ? v : 0\n }\n if (typeof targets.status === 'string') {\n this.setState({ status: targets.status })\n }\n return new Promise<void>(resolve => {\n let resolved = false\n const finish = () => {\n if (resolved) return\n resolved = true\n resolve()\n }\n const controller = (this as any).animate({\n duration,\n ease: 'inout',\n delta: 'quad',\n step: (dx: number) => {\n if (this._simAbort) {\n controller.stop?.()\n return finish()\n }\n const update: Record<string, number> = {}\n for (const k of Object.keys(start)) {\n const tgt = targets[k]\n if (typeof tgt !== 'number') continue\n update[k] = start[k] + (tgt - start[k]) * dx\n }\n this.setState(update as any)\n },\n onComplete: finish\n })\n controller.start()\n })\n }\n}\n\nfunction resolveCarrierDepth(c: Component): number {\n const eff = (c as any)._realObject?.effectiveDepth\n if (typeof eff === 'number' && Number.isFinite(eff)) return eff\n return numOr((c as any)?.state?.depth, 0)\n}\n\nfunction resolveCarrierCenterY(c: Component): number | null {\n const pos = (c as any).state\n if (!pos) return null\n // zPos is the 3D Y center of a Placeable component in things-scene\n const zPos = numOr(pos.zPos, NaN)\n if (!Number.isNaN(zPos)) return zPos\n return null\n}\n\nfunction numOr(v: unknown, dflt: number): number {\n return typeof v === 'number' && Number.isFinite(v) ? v : dflt\n}\n\n// ── 2D render helpers ────────────────────────────────────────────────────\nfunction num(v: unknown, dflt: number): number {\n return typeof v === 'number' && Number.isFinite(v) ? v : dflt\n}\n\nfunction clamp(v: number, min: number, max: number): number {\n return v < min ? min : v > max ? max : v\n}\n\n/** \"#rrggbb\" 또는 \"name\" 색에 alpha 적용. 실패 시 fallback rgba. */\nfunction withAlpha(color: string, alpha: number): string {\n // \"#rrggbb\" 형식만 지원 — name color 는 rgba 직접 변환 못해서 그대로 사용\n if (color && color[0] === '#' && color.length === 7) {\n const r = parseInt(color.slice(1, 3), 16)\n const g = parseInt(color.slice(3, 5), 16)\n const b = parseInt(color.slice(5, 7), 16)\n return `rgba(${r},${g},${b},${alpha})`\n }\n return color\n}\n"]}
1
+ 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* Copyright © HatioLab Inc. All rights reserved.\n */\nimport { Component, ComponentNature, ContainerAbstract, ContainerCapacity, RealObject, Transfer, getWorldPose, sceneComponent } from '@hatiolab/things-scene'\nimport type { SlotDef, State, Material3D, Transferable } from '@hatiolab/things-scene'\nimport {\n CarrierHolder,\n Legendable,\n Mover,\n Placeable,\n type AttachFrame,\n type Alignment,\n type Heights,\n type LegendBinding,\n type MoveOptions,\n type PlacementArchetype\n} from '@operato/scene-base'\n\nimport { Crane3D } from './crane-3d.js'\n\n/**\n * Crane status — the operating state of a stacker crane.\n *\n * - `idle` — parked at home position\n * - `moving` — translating (horizontal) or along the mast (vertical);\n * typically combined\n * - `loading` — extracting a carrier from a rack cell\n * - `unloading` — placing a carrier into a rack cell\n * - `error` — fault / e-stop / collision warning\n */\nexport type CraneStatus = 'idle' | 'moving' | 'loading' | 'unloading' | 'error'\n\n/** Crane 컴포넌트 state */\nexport interface CraneState extends State {\n // ── 운영 상태 ──\n status?: CraneStatus\n\n // ── 액추에이터 ──\n /** 마스트 따라 carriage 의 수직 위치 (mm). */\n carriageHeight?: number\n /**\n * Fork prong 의 최대 신축 가능 길이 (mm). cell 깊이 + 여유.\n * 일반적으로 pallet 깊이 (1200mm) + 여유 ≈ 1300mm 또는 그 이하 (default 600).\n */\n forkLength?: number\n /**\n * Fork 의 *현재 신축 거리* (mm). 0 = collapsed (shuttle 안 들어가있음),\n * forkLength = fully extended (cell 안 carrier 의 fork pocket 도달).\n *\n * 시뮬레이션 흐름:\n * idle: 0\n * approach → 0\n * pick / place: 0 → forkLength (extending) → 0 (retracting with carrier)\n */\n forkExtension?: number\n /**\n * Fork 가 carrier 를 *cell shelf 에서 분리하기 위해 들어올리는 높이* (mm).\n * 사용자가 board 에서 설정하는 *configured 진폭*. engage 의 lift 단계 target.\n * 미명시 시 default 30mm.\n *\n * Note: 시뮬 *진행 중 current 들림 값* 은 별도 internal transient — `forkLiftRT`\n * state. 3D / 2D render 가 carriage Y 결정 시 그 값을 사용.\n */\n forkLift?: number\n\n /**\n * Fork lift *runtime current value* (mm). engage 가 시뮬 진행 중 매 frame\n * setState 로 lerp. *사용자가 설정하는 값 아님* — internal transient.\n */\n forkLiftRT?: number\n\n /**\n * 자동 random simulate (visual smoke test) 시작 여부.\n * - `undefined` 또는 `false` (default): 자동 시작 안 함. application 이 crane.\n * pickAndPlace 등 직접 제어 시 사용.\n * - `true`: added() 시 자동 시작.\n */\n simulate?: boolean\n\n /**\n * Carriage 의 rail-local X 위치 (0 ~ crane.width). Crane.moveTo / simulate 가\n * lerp. crane 본체 (rail) 는 안 움직임 — carriage assembly (masts + carriage +\n * forks) 만 rail 안 X 만 슬라이드.\n */\n carriagePosition?: number\n\n /**\n * Carriage 의 폭 (rail-local X 방향). 미명시 시 rail (crane.width) 의 ~10%.\n * Target rack 의 cell 폭과 매칭 권유.\n */\n carriageWidth?: number\n\n // ── 3D 재질 ──\n material3d?: Material3D\n}\n\nconst BODY_LEGEND = {\n idle: '#888',\n moving: '#aabbcc',\n loading: '#ffaa00',\n unloading: '#ffaa00',\n error: '#c66',\n default: '#888'\n}\n\nconst LAMP_EMISSIVE_LEGEND = {\n idle: '#222222',\n moving: '#44ff44',\n loading: '#ffaa00',\n unloading: '#ffaa00',\n error: '#ff3333',\n default: '#222222'\n}\n\nconst NATURE: ComponentNature = {\n mutable: false,\n resizable: true,\n rotatable: true,\n properties: [\n {\n type: 'select',\n label: 'status',\n name: 'status',\n property: {\n options: [\n { display: 'Idle', value: 'idle' },\n { display: 'Moving', value: 'moving' },\n { display: 'Loading', value: 'loading' },\n { display: 'Unloading', value: 'unloading' },\n { display: 'Error', value: 'error' }\n ]\n }\n },\n {\n type: 'checkbox',\n label: 'simulate',\n name: 'simulate'\n },\n {\n type: 'number',\n label: 'carriage-position',\n name: 'carriagePosition',\n placeholder: 'rail-local X (0 ~ rail width). Crane.moveTo 가 lerp.'\n },\n {\n type: 'number',\n label: 'carriage-width',\n name: 'carriageWidth',\n placeholder: 'rail-local 폭 (mm). 미명시 rail width × 10%.'\n },\n {\n type: 'number',\n label: 'carriage-height',\n name: 'carriageHeight',\n placeholder: 'mm — height of carriage on mast'\n },\n {\n type: 'number',\n label: 'fork-length',\n name: 'forkLength',\n placeholder: 'mm — fork prong 최대 신축 길이 (default 600)'\n },\n {\n type: 'number',\n label: 'fork-extension',\n name: 'forkExtension',\n placeholder: 'mm — 현재 신축 거리 (0 = collapsed)'\n },\n {\n type: 'number',\n label: 'fork-lift',\n name: 'forkLift',\n placeholder: 'mm — carrier 들어올림 높이 (+ 위로)'\n }\n ],\n help: 'scene/component/crane'\n}\n\n// Mixin chain: Mover → CarrierHolder → ContainerCapacity → Legendable → Placeable → ContainerAbstract\n//\n// Mover: pick / place / pickAndPlace / moveTo / engage primitives\n// CarrierHolder: attachPointFor() — where the carrier sits on the crane (carriage fork)\n// ContainerCapacity: receive() / dispatch() / canReceive() / slots — slot tracking +\n// TRANSFER_SLOT_KEY bookkeeping during transit\n// Legendable: status → bodyColor / lampEmissive colour mapping\n// Placeable: floor-archetype 3D positioning\n// ContainerAbstract: child management — carrier becomes a child while in transit\n//\n// Note: ContainerAbstract replaces Shape. The 2D outline is drawn manually in\n// render() below (a simple top-down rectangle), matching the old Shape output\n// without the Shape base-class overhead.\n/**\n * Crane — a stacker / retrieval picker. Picker contract instance.\n *\n * Moves carriers between rack cells (or any Placeable target). The crane\n * is *picker-side* of the Phase G/H Pickable contract — it knows how to\n * `pick(carrier)` / `place(carrier, target)` and `engage(target, kind)`\n * to align its actuators. It is *storage-agnostic* — any Rack / Cell /\n * Spot / Conveyor that implements the receive/dispatch protocol is a\n * valid target.\n *\n * Structure: a tall vertical mast that translates horizontally on a rail\n * or free floor path, with a carriage that slides up/down the mast carrying\n * a shuttle / forks.\n *\n * **Monitoring mode**: crane status is driven by external data binding\n * (`state.status`, `state.carriageHeight`). The carrier is referenced\n * via data binding — it is NOT a child of the crane in monitoring mode.\n *\n * **Simulation mode**: call `crane.pick(carrier)` / `crane.place(carrier, target)`\n * (or `crane.pickAndPlace(carrier, target)`). Mover handles navigation +\n * engage + reparent. During transit the carrier IS a child of the crane.\n */\n@sceneComponent('crane')\nexport default class Crane extends Mover(CarrierHolder(ContainerCapacity(Legendable(Placeable(ContainerAbstract))))) {\n declare state: CraneState\n declare _realObject?: Crane3D\n\n static legends: Record<string, LegendBinding> = {\n bodyColor: { from: 'status', legend: BODY_LEGEND },\n lampEmissive: { from: 'status', legend: LAMP_EMISSIVE_LEGEND }\n }\n\n static placement: PlacementArchetype = 'floor'\n static align: Alignment = 'bottom'\n static defaultDepth = (h: Heights) => h.ceiling - h.floor\n\n /** Yaw offset: crane model is drawn with the rail axis along X (right = forward). */\n static yawOffset = 0\n\n /**\n * Phase H — the crane uses telescoping forks to pick up a carrier in a rack\n * cell. Same mechanism as a forklift fork — engages the pallet's fork pocket.\n * (Mover mixin chain is `: any` so override keyword is not usable, only the\n * getter is defined.)\n */\n get toolType(): string {\n return 'forklift-fork'\n }\n\n get nature() {\n return NATURE\n }\n\n get anchors() {\n return []\n }\n\n // ── ContainerCapacity ─────────────────────────────────────────────────────\n\n /**\n * Stacker crane carries at most one load at a time on its forks.\n *\n * localPosition.z = 0 명시 — ContainerCapacity.receive 의 atomic setState 가\n * `carrier.state.zPos = slot.localPosition.z + parentGeoOffset = 0` 강제.\n * 미명시 시 zPos update skip → carrier 의 *이전 holder 또는 board model 의\n * 임의 zPos (음수 가능)* 그대로 → _realObject 미빌드 시점 (transient placement\n * 미설정 = state-driven) 에 carrier 가 *지하* 로 가는 결함.\n */\n get slots(): SlotDef[] {\n return [{ id: 'forks', maxCount: 1, localPosition: { x: 0, y: 0, z: 0 } }]\n }\n\n /**\n * Acceptance rotation — carrier 가 crane.fork 에 attach 시 *crane 의 local\n * axis (전방)* 으로 정렬. identity quaternion 반환 → atomic setState 가\n * carrier.state.rotation/X/Y = 0 강제. _realObject 미빌드 시점 (transient\n * placement 미설정 = state-driven) fallback 에서도 자세 정렬.\n *\n * follow-holder carryPolicy 와 짝 — 두 path 모두 동일 결과 (local identity).\n */\n acceptanceRotation(_carrier: Component, _slot?: SlotDef): { x: number; y: number; z: number; w: number } {\n return { x: 0, y: 0, z: 0, w: 1 }\n }\n\n /**\n * Arrangement — carrier.state.left/top 의 *기준* 이 *crane 전체 footprint* 가\n * 아닌 *carriage X (carriagePosition) + fork Z (bladeMidZ)*. carriage / fork\n * 의 위치가 carrier 의 위치.\n *\n * left = carriagePosition − carrier.w/2 (carriage X 중심)\n * top = crane.h/2 + bladeMidZ − carrier.h/2 (fork Z 중심)\n */\n get arrangementStrategy() {\n const crane = this as any\n return {\n positionAt(_idx: number, _slot: any, _occ: number, component?: any) {\n const cw = numOr(crane.state?.width, 100)\n const ch = numOr(crane.state?.height, 100)\n const carrierW = numOr(component?.state?.width, 0)\n const carrierH = numOr(component?.state?.height, 0)\n const carriagePos = numOr(crane.state?.carriagePosition, cw / 2)\n const bladeMidZ = numOr(crane._realObject?.bladeMidZ, 0)\n return {\n x: carriagePos - carrierW / 2,\n y: ch / 2 + bladeMidZ - carrierH / 2,\n z: 0\n }\n },\n capacity(slot: any) {\n return slot.maxCount ?? Infinity\n }\n }\n }\n\n // ── CarrierHolder — attach frame (carriage fork position) ─────────────────\n\n /**\n * Return the 3D attach frame on the crane's carriage (fork tip).\n * Carriers are attached here while the crane is in transit (pick phase).\n *\n * The Crane3D exposes `getCarriageFrame()` — a sub-Object3D that\n * tracks the carriage height and sits at the fork TCP. If the 3D object\n * isn't built yet (e.g. before scene initialization), fall back to the\n * crane's own object3d centre.\n */\n attachPointFor(carrier: Component): AttachFrame | null {\n const ro = this._realObject\n const frame = ro?.getCarriageFrame?.()\n if (!frame) return null\n const carrierDepth = resolveCarrierDepth(carrier)\n const carrierBaseY = ro?.carrierBaseY ?? 0\n const bladeMidZ = ro?.bladeMidZ ?? 0\n // carrier 외부 bottom = fork blade bottom. carryPolicy: 'follow-holder' —\n // carrier 가 crane 의 *local axis (전방)* 정렬.\n return {\n attach: frame,\n localPosition: { x: 0, y: carrierBaseY + carrierDepth / 2, z: bladeMidZ },\n carryPolicy: 'follow-holder'\n }\n }\n\n // ── Mover overrides ───────────────────────────────────────────────────────\n\n /**\n * Domain-specific actuation between arrival and reparent.\n *\n * Simulation sequence for PICK:\n * 1. Mover.pick() navigates crane to carrier position (moveTo).\n * 2. engage('pick') → snap carriage height + status 'loading'.\n * 3. Carrier is reparented to crane (becomes child).\n *\n * For now: set status and snap carriage height. A full simulation\n * would tween the carriageHeight here (animate Crane3D).\n *\n * Status lifecycle:\n * idle → (moveTo running) → engage fires → loading/unloading → (reparent) → idle\n * The 'moving' state is not set from Mover.moveTo() because TypeScript\n * can't call super.moveTo() on an `: any`-typed mixin. External data\n * binding sets 'moving' in monitoring mode; override pick()/place() to\n * set it in full simulation environments.\n */\n /**\n * Crane.moveTo — **Crane 본체 (rail) 은 안 움직임**. *내부 carriage 의 rail-\n * local X 위치 (carriagePosition) 만 lerp*. 실제 gantry / AS/RS crane 의\n * 자연스러운 운동 패턴.\n *\n * target.center 의 world 좌표를 *crane 의 local frame (rail-aligned)* 로\n * 변환 → rail-local X 추출 → carriagePosition setState.\n *\n * Crane.state.rotation = rail 방향. carriage 가 rail 위 X 만 이동.\n */\n async moveTo(target: Component, options: MoveOptions = {}): Promise<void> {\n // target.center 는 *parent-local* 좌표 — child component (cell) 의 경우\n // *rack-local*. board-absolute 변환 필요 (= toScene).\n const tcLocal = target?.center\n if (!tcLocal || typeof tcLocal.x !== 'number' || typeof tcLocal.y !== 'number') {\n return\n }\n const tcAbs = typeof (target as any).toScene === 'function'\n ? (target as any).toScene(tcLocal.x, tcLocal.y)\n : tcLocal\n const tcx = tcAbs.x\n const tcy = tcAbs.y\n\n // Crane 도 자체 center 를 toScene 으로 (crane 이 다른 container 의 child 일 수도)\n const W = (this.state.width as number) ?? 100\n const craneCenterLocal = (this as any).center ?? { x: 0, y: 0 }\n const craneCenterAbs = typeof (this as any).toScene === 'function'\n ? (this as any).toScene(craneCenterLocal.x, craneCenterLocal.y)\n : craneCenterLocal\n const ccx = craneCenterAbs.x\n const ccy = craneCenterAbs.y\n const rotation = (this.state.rotation as number) ?? 0\n const cos = Math.cos(rotation)\n const sin = Math.sin(rotation)\n\n const dx = tcx - ccx\n const dy = tcy - ccy\n const railLocalX = dx * cos + dy * sin\n\n const cw = (this.state.carriageWidth as number) ?? W * 0.1\n const minPos = cw / 2\n const maxPos = W - cw / 2\n const newCarriagePos = Math.max(minPos, Math.min(maxPos, railLocalX + W / 2))\n\n // X + Y 동시 lerp — carriage 의 횡 (rail) + 종 (mast) 운동 동기.\n //\n // 진입 위치 (= fork blade bottom world Y):\n // pick (no holding): cellBottom\n // place (holding): cellBottom + liftH (들린 carrier 와 함께 진입)\n const tween: Record<string, number> = { carriagePosition: newCarriagePos }\n const targetBottomWorldY = resolveCarrierBottomY(target)\n if (targetBottomWorldY !== null) {\n const isHoldingCarrier = ((this as any).components as any[] | undefined)?.some?.(\n (c: any) => c?._transferSlotId === 'forks'\n ) ?? false\n const liftH = numOr((this.state as any).forkLift, 30)\n const approachWorldY = targetBottomWorldY + (isHoldingCarrier ? liftH : 0)\n\n const ro = this._realObject\n const currentForkLift = numOr((this.state as any).forkLiftRT, 0)\n const solver = ro?.solveCarriageHeightForCarrierBaseWorldY\n if (typeof solver === 'function') {\n tween.carriageHeight = solver.call(ro, approachWorldY, currentForkLift)\n } else {\n tween.carriageHeight = approachWorldY\n }\n }\n\n const duration = (options.duration as number) ?? 1500\n this.setState({ status: 'moving' as CraneStatus })\n await this._tween(tween, duration)\n this.setState({ status: 'idle' as CraneStatus })\n }\n\n async engage(\n target: Component,\n kind: 'pick' | 'place',\n _options: MoveOptions = {}\n ): Promise<void> {\n // carriageHeight 는 moveTo 안 X+Y 동시 lerp 에서 처리.\n // engage 가 책임: fork extension → lift / drop → retract.\n const forkLen = numOr((this.state as any).forkLength, 600)\n // liftH — 사용자 설정 `forkLift` (= configured 진폭). 미설정 시 default 30mm.\n // 시뮬 lerp 는 *forkLiftRT* (runtime current) state 에 적용 — `forkLift` 자체\n // 는 *진폭 의미 보존* 위해 안 건드림.\n const liftH = numOr((this.state as any).forkLift, 30)\n\n // Fork side 결정 — target 이 crane 의 어느 *local Z 방향* (cross-rail, fork\n // axis) 인지. things-scene 의 `getWorldPose` 로 양쪽 world pose 산출 후\n // delta 를 crane local frame 으로 inverse-rotate → local Z 부호 = side.\n // pick/place 동일하게 동작 (이전 코드는 carrier=cell.child 케이스에서\n // rack-local vs world 좌표계 혼선으로 pick 시 방향 반대였음).\n let side: 1 | -1 = +1\n try {\n const cranePose = getWorldPose(this)\n const targetPose = getWorldPose(target)\n const dv = targetPose.position.clone().sub(cranePose.position)\n dv.applyQuaternion(cranePose.rotation.clone().invert())\n side = dv.z >= 0 ? +1 : -1\n } catch {\n // fallback — pose 계산 실패 시 +1 (rotation 무관, 의미적으로 안전한 default).\n }\n\n // Animation duration — fork extend/retract 1000ms, lift/lower 600ms.\n // 이전 (500ms / 300ms) 보다 2배 — 시각 자연스러움 강화.\n const D_EXT = 1000\n const D_LIFT = 600\n\n // fork extension target — target 의 local Z 와 _bladeMidZ 매칭. helper 가\n // inverse-solve. mismatch 시 carrier 가 *fork tip 위치 (= local Z 미일치)*\n // 로 jump → 텔레포트 결함. helper 가 정확 일치 보장.\n let extTarget = side * forkLen\n try {\n const cranePose = getWorldPose(this)\n const targetPose = getWorldPose(target)\n const dv = targetPose.position.clone().sub(cranePose.position)\n dv.applyQuaternion(cranePose.rotation.clone().invert())\n const localZ = dv.z\n const solver = (this._realObject as any)?.solveForkExtensionForLocalZ\n if (typeof solver === 'function') {\n const ext = solver.call(this._realObject, localZ)\n if (Number.isFinite(ext)) extTarget = ext\n }\n } catch {\n // fallback — 기존 side * forkLen.\n }\n\n if (kind === 'pick') {\n this.setState({ status: 'loading' as CraneStatus })\n await this._tween({ forkExtension: extTarget }, D_EXT)\n\n // Mid-engage reparent — fork 가 cell 안 도달. carrier 를 fork 위로 *즉시\n // snap* (animated:false). Transfer 객체 통과 → monitor panel 추적.\n const source = (target as any).parent\n if (source) {\n try {\n new Transfer({\n source,\n target: this as unknown as Transferable,\n carrier: target,\n options: { animated: false }\n }).executeSync()\n } catch (e) {\n // Transfer 실패 — carrier 그대로. 후속 Mover.pick receive 가 처리.\n }\n }\n\n await this._tween({ forkLiftRT: liftH }, D_LIFT)\n await this._tween({ forkExtension: 0 }, D_EXT)\n } else {\n this.setState({ status: 'unloading' as CraneStatus })\n // 1. fork extend (cell 위에서 carrier 자리 위로 진입). extTarget = inverse-\n // solved target.local.z 매칭 위치.\n await this._tween({ forkExtension: extTarget }, D_EXT)\n\n // 2. carrier lower — forkLiftRT liftH → 0. carrier 가 cell 바닥 안착.\n await this._tween({ forkLiftRT: 0 }, D_LIFT)\n\n // 3. dispatch — carrier world 위치 = cell 내 attach 위치, jump 없음. Transfer 추적.\n const comps = (this as any).components as any[] | undefined\n const carrier = comps?.find?.((c: any) => c?._transferSlotId === 'forks')\n ?? comps?.find?.((c: any) => c?.state?.type !== 'storage-cell')\n if (carrier) {\n try {\n new Transfer({\n source: this as unknown as Transferable,\n target: target as unknown as Transferable,\n carrier,\n options: { animated: false }\n }).executeSync()\n } catch (e) {\n // dispatch 실패 — Mover.place 가 후속 처리.\n }\n }\n\n // 4. fork retract — 빈 fork.\n await this._tween({ forkExtension: 0 }, D_EXT)\n }\n }\n\n // ── Domain aliases ────────────────────────────────────────────────────────\n\n /** Fetch a carrier from a rack cell (semantically = pick). */\n fetch(carrier: Component, options?: MoveOptions): Promise<void> {\n return this.pick(carrier, options)\n }\n\n /** Deposit a carrier into a rack cell (semantically = place). */\n deposit(carrier: Component, cell: Component, options?: MoveOptions): Promise<void> {\n return this.place(carrier, cell, options)\n }\n\n // ── 2D rendering ─────────────────────────────────────────────────────────\n\n /**\n * 2D top-down 표현 — 크레인으로 명확히 인식되도록 핵심 부품 그림:\n *\n * - rail (테두리 양쪽 가장자리, dark gray)\n * - twin masts (orange, 옆으로 배치) ← 시각 identity 핵심\n * - carriage (yellow, mast 사이) ← 작은 사각형\n * - forks (yellow, 두 평행선, cross-rail 방향으로 forkLength × extension 비율로 신축)\n * - carrier (lift 됐을 때만, gray 박스 + 들림 표시 ▲)\n *\n * 숨은 축 표현:\n * - carriageHeight (mast Y): 오른쪽 mast 옆 세로 게이지 — fill 비율 = carriageHeight/depth\n * - forkLift (carrier 들기): carrier 가 lift 상태일 때 outline + ▲ 마크\n *\n * 컨벤션: width = rail (X), height = cross-rail (Y, fork 신축 방향).\n * state.rotation 은 canvas 가 처리 (다른 컴포넌트와 동일).\n */\n render(ctx: CanvasRenderingContext2D) {\n const state = this.state as any\n const width = num(state.width, 100)\n const height = num(state.height, 200)\n const left = num(state.left, 0)\n const top = num(state.top, 0)\n\n const depth = num(state.depth, Math.max(width, height) * 4)\n const carriageHeight = clamp(num(state.carriageHeight, 0), 0, depth)\n const forkExtension = num(state.forkExtension, 0) // ± (rail 양쪽 rack)\n // forkLiftRT — *시뮬 runtime current 들림*. *configured 진폭* (state.forkLift)\n // 와 분리. 시뮬 미진행 시 0 (carriage 가 mast 위 carriageHeight 만큼).\n const forkLift = num(state.forkLiftRT, 0)\n\n // carriagePosition: rail-local X (0 ~ width). default = rail center.\n // 사용자 의도 — Crane 본체 (rail) 안 움직이고 carriage assembly 만 X 슬라이드.\n const carriagePosition = clamp(num(state.carriagePosition, width / 2), 0, width)\n const cx = left + carriagePosition // masts/carriage/forks 의 중심 X\n const cy = top + height / 2\n // 적재 여부 — forkLift > 0 (시뮬 중 들어올린 상태) 또는 state.loaded 명시.\n // monitoring 모드는 외부 데이터로 state.loaded 바인딩.\n const carrying = forkLift > 0 || !!state.loaded || !!state.carrying\n\n // 높이 비율 (1F=0 → 최상층=1). carriage / carrier 의 크기 scale 에 공통 사용.\n const heightRatio = depth > 0 ? clamp(carriageHeight / depth, 0, 1) : 0\n const sizeMul = 0.5 + heightRatio * 0.5 // 50% (1F) → 100% (최상층)\n\n const MAST = '#ff7a00' // 주황 — 마스트\n const CARRIAGE_C = '#ffcc00' // 노랑 — carriage shuttle 본체\n const FORK_C = '#a8b0b8' // 은회색 — fork prong (금속 느낌, carriage 와 구분)\n const DARK = '#3a4048'\n // Carrier — 팔레트 갈색 (carriage 노랑 위에서 대비). lift 시 darker + 두꺼운 외곽.\n const CARRIER = forkLift > 0 ? '#7d5530' : '#a08864'\n const CARRIER_LINE = '#3a2a18'\n\n ctx.save()\n\n // 0. Rail footprint — 반투명 회색 fill + 외곽선. 사용자가 board 에서 crane 의\n // *rail 영역* 을 명확히 인식 + 편집 핸들 가능.\n ctx.fillStyle = '#aab0b8'\n ctx.globalAlpha = 0.15\n ctx.fillRect(left, top, width, height)\n ctx.globalAlpha = 1\n ctx.strokeStyle = DARK\n ctx.lineWidth = 1\n ctx.strokeRect(left, top, width, height)\n\n // 1. Rail — 하단 한 줄 (얇은 가이드). 톤 절제 — outer footprint 가 이미 영역 표시.\n const railW = Math.max(1, height * 0.02)\n ctx.fillStyle = DARK\n ctx.globalAlpha = 0.6\n ctx.fillRect(left, top + height - railW, width, railW)\n ctx.globalAlpha = 1\n\n // 2. Twin masts — *carriageWidth 기반* (crane.width 와 분리). rail (= crane.width)\n // 이 넓어져도 carriage assembly 는 *carriageWidth 만큼* 만.\n const carriageW = num(state.carriageWidth, width * 0.1) // default rail 의 10%\n const mastW = Math.max(2.5, carriageW * 0.15)\n const mastSpacing = carriageW * 0.85\n const mastY = top + railW\n const mastH = height - railW * 2\n const mastX1 = cx - mastSpacing / 2 - mastW / 2\n const mastX2 = cx + mastSpacing / 2 - mastW / 2\n ctx.fillStyle = MAST\n ctx.fillRect(mastX1, mastY, mastW, mastH)\n ctx.fillRect(mastX2, mastY, mastW, mastH)\n\n // 2-a. Floor tick marks — mast 위에 N 단계 (예: 5 단) 가로 줄. 층 가늠.\n const numFloors = 5\n ctx.fillStyle = 'rgba(0,0,0,0.25)'\n for (let i = 1; i < numFloors; i++) {\n const tickY = mastY + (mastH * i) / numFloors - 0.5\n ctx.fillRect(mastX1, tickY, mastW, 1)\n ctx.fillRect(mastX2, tickY, mastW, 1)\n }\n\n // 2-b. Carriage 위치 indicator — 마스트 *중심 고정* + *size = carriageHeight 비율*.\n // 1층 (=0): 얇은 선. 최상층 (=depth): 마스트 길이의 100%. 성장/수축 = 상승/하강.\n const indLen = Math.max(2, mastH * heightRatio)\n const indY = mastY + mastH / 2 - indLen / 2\n const indWidth = mastW + 4\n ctx.fillStyle = '#5a3a00' // 어두운 갈색 — orange mast 위에서 강한 대비\n ctx.fillRect(mastX1 - 2, indY, indWidth, indLen)\n ctx.fillRect(mastX2 - 2, indY, indWidth, indLen)\n\n // 3. Carriage deck — 팔레트 1200×800mm aspect 반영. *폭만* sizeMul 적용 (높이감),\n // 길이 (Y) 고정. carrier / fork 모두 이 deck 기준으로 derive.\n const deckW = (mastSpacing - mastW) * sizeMul\n const carriageH = Math.min((mastSpacing - mastW) * 1.3, (height - railW * 2) * 0.55)\n const carriageX = cx - deckW / 2\n const carriageY = cy - carriageH / 2\n ctx.fillStyle = CARRIAGE_C\n ctx.fillRect(carriageX, carriageY, deckW, carriageH)\n\n // 4. Fork — 좌우 균형:\n // - 양쪽 모두 *작은 stub* 항상 표시 (crane 이 양쪽 rack 사이 있는 인상)\n // - extension 부호 (+/-) 에 따라 active 쪽이 추가로 신축\n // - 신축 길이 = |forkExtension| (실제 reach 만큼)\n const stubLen = Math.max(2, carriageH * 0.5)\n // 포크 폭 — deck 의 80%.\n const forkW = deckW * 0.8\n const forkX = cx - forkW / 2\n const extLen = Math.abs(forkExtension)\n const sign = forkExtension >= 0 ? 1 : -1\n ctx.fillStyle = FORK_C\n // 항상 양쪽 stub\n ctx.fillRect(forkX, carriageY - stubLen, forkW, stubLen) // top stub\n ctx.fillRect(forkX, carriageY + carriageH, forkW, stubLen) // bottom stub\n // active 쪽 추가 신축\n if (extLen > 0.5) {\n if (sign > 0) {\n ctx.fillRect(forkX, carriageY + carriageH + stubLen, forkW, extLen)\n } else {\n ctx.fillRect(forkX, carriageY - stubLen - extLen, forkW, extLen)\n }\n }\n\n // 5. Carrier — *팔레트 크기* 정사각형. 신축 시 fork 끝 (cell 안쪽) 에 배치.\n // - extLen > 0: carrier 가 fork 끝 (cell 안) — pallet 이 cell 로 들어가는 인상\n // - retracted (extLen=0): carriage 중심 — transit 자세\n // - forkLift > 0: 진한 갈색 + 두꺼운 outline (들린 상태 시인)\n if (carrying) {\n // 팔레트 — 항상 carriage 의 90% (폭/길이 모두). carriage 가 sizeMul 적용된 폭이라\n // carrier 도 자동으로 sizeMul 반영. 길이는 carriage 길이 고정에 따라 고정.\n const carrW = deckW * 0.9\n const carrH = carriageH * 0.9\n // Carrier 2D 위치 — 3D _bladeMidZ 와 동일 공식 (sign * extLen).\n // extLen=0 → carriage 정중앙. extLen 증가 → cell 방향 으로 진출.\n const offset = extLen\n const carrCenterY = sign > 0\n ? carriageY + carriageH / 2 + offset\n : carriageY + carriageH / 2 - offset\n const carrX = cx - carrW / 2\n const carrY = carrCenterY - carrH / 2\n\n // 들린 상태 — drop shadow 로 *떠 있는* 인상 (forkLift > 0). offset 비율 = lift 강도.\n if (forkLift > 0) {\n const liftMax = Math.max(num(state.forkLift, 30), 20) // configured 진폭\n const liftRatio = clamp(forkLift / liftMax, 0.3, 1) // 최소 30% 표시 (있다는 것만 보이게)\n const shadowOff = Math.max(2, Math.min(carrW, carrH) * 0.14) * liftRatio\n ctx.fillStyle = 'rgba(0, 0, 0, 0.4)'\n ctx.fillRect(carrX + shadowOff, carrY + shadowOff, carrW, carrH)\n }\n\n // Carrier 본체\n ctx.fillStyle = CARRIER\n ctx.fillRect(carrX, carrY, carrW, carrH)\n ctx.strokeStyle = CARRIER_LINE\n ctx.lineWidth = forkLift > 0 ? 1.5 : 0.8\n ctx.strokeRect(carrX, carrY, carrW, carrH)\n }\n\n // Cargo (carrier) 가 fork 위에 얹혀 fork 신축과 함께 이동하므로 그 자체로 방향\n // (loading/unloading) 이 자연 인식. 별도 status 배지 없음.\n\n // (carriageHeight 시각화는 mast 위 dark band + floor ticks 로 통합 — 별도 측면 게이지 제거)\n\n ctx.restore()\n }\n\n // ── Lifecycle — simulate() 자동 시작 ────────────────────────────────────\n\n added(parent: any): void {\n super.added?.(parent)\n\n // state ↔ visual single source of truth. state 미설정 시 _canonicalDefault\n // 로 명시 초기화 — build / _tween / 외부 read 모두 동일 값.\n const init: Record<string, number> = {}\n for (const k of ['carriagePosition', 'carriageHeight', 'forkExtension', 'forkLiftRT']) {\n if (typeof (this.state as any)[k] !== 'number') {\n init[k] = this._canonicalDefault(k)\n }\n }\n if (Object.keys(init).length > 0) this.setState(init)\n\n // state.simulate === true 명시 시만 자동 시작. mode 연동은 board view layer\n // 책임 — 컴포넌트 자체는 simulate state 만 본다 (sorter/conveyor 등 다른\n // 시뮬 컴포넌트와 동일 패턴).\n if ((this.state as CraneState).simulate !== true) return\n this._startAutoSimulate()\n }\n\n /**\n * Actuator state 의 *canonical default*. state 미설정 시 모든 read 경로\n * (build / _tween / 외부) 가 *동일 값* 보도록.\n *\n * single source 패턴 — visual fallback 과 state fallback 이 *분리* 되어\n * 첫 _tween 시 start 가 visual current 와 어긋나는 jump 결함을 근본 차단.\n */\n _canonicalDefault(key: string): number {\n const state = this.state as any\n const W = numOr(state.width, 100)\n const H = numOr(state.height, 100)\n const D = numOr(state.depth, Math.max(W, H) * 4)\n switch (key) {\n case 'carriagePosition': return W / 2\n case 'carriageHeight': return D * 0.4\n case 'forkExtension':\n case 'forkLiftRT':\n case 'forkLift':\n return 0\n default: return 0\n }\n }\n\n private _startAutoSimulate(): void {\n if (this._simStarted) return\n this._simStarted = true\n // 초기 지연 800~2800ms 사이 random — 여러 crane 이 동기적으로 시작하지 않도록.\n const initialDelay = 800 + Math.random() * 2000\n setTimeout(() => {\n if (this._simAbort || (this.state as CraneState).simulate !== true) return\n this.simulate().catch(e => console.error('[Crane] simulate', e))\n }, initialDelay)\n }\n\n /**\n * state.simulate 변경 시 자동 simulate 시작/중단. application 이 런타임 toggle\n * 가능 (예: editor 에서 simulate off, view 에서 on).\n */\n onchange(after: Record<string, unknown>, before: Record<string, unknown>): void {\n super.onchange(after as any, before as any)\n // carriage 관련 state 변경 시 2D render 명시 invalidate. things-scene 의\n // setState → trigger change 가 render queue 에 자동 등록 못 하는 케이스 방어.\n if (\n 'carriagePosition' in after ||\n 'carriageWidth' in after ||\n 'carriageHeight' in after ||\n 'forkExtension' in after ||\n 'forkLift' in after ||\n 'forkLiftRT' in after\n ) {\n ;(this as any).invalidate?.()\n }\n if ('simulate' in after) {\n if (after.simulate === true) {\n // 명시 true → 자동 시작 (이미 시작 중이면 noop). mode gating 은\n // frameClock (animate 의 simTime) 이 자동 처리 — modeler 면 simTime\n // 안 흐름, _tween step 호출 안 됨.\n this._simAbort = false\n this._simStarted = false\n this._startAutoSimulate()\n } else {\n this._simAbort = true\n }\n }\n }\n\n // ── 3D ───────────────────────────────────────────────────────────────────\n\n buildRealObject(): RealObject | undefined {\n return new Crane3D(this)\n }\n\n // ── Random animation (visual smoke test) ─────────────────────────────────\n // things-scene 의 component.animate() (frameClock 기반, pause/speed 대응) 를 사용.\n\n private _simStarted = false\n private _simRunning = false\n private _simAbort = false\n // Rail = crane 의 *로컬 X 축* (state.rotation 적용). simulate 진입 시 1회 계산해서 캐시.\n private _railOriginX = 0\n private _railOriginY = 0\n private _railCos = 1\n private _railSin = 0\n private _railMin = NaN // local-X 축 rail offset min\n private _railMax = NaN // local-X 축 rail offset max\n private _targetSide = 1 // +Z (fork +Z 로 뻗어야 하나) / -Z\n\n /** Continuous random pick → transport → place cycles. Visual smoke test. */\n async simulate(): Promise<void> {\n if (this._simRunning) return\n this._simRunning = true\n this._simAbort = false\n try {\n this._initRailRange()\n while (!this._simAbort) {\n await this._oneCycle()\n }\n } finally {\n this._simRunning = false\n }\n }\n\n /**\n * state.target bbox 를 crane 의 *로컬 X 축* 으로 projection 해서 rail range 1회 계산.\n * Rotation 적용된 crane 의 local X (= rail) 방향으로 움직이도록 cos/sin 캐시.\n */\n private _initRailRange(): void {\n this._railMin = this._railMax = NaN\n\n // simulate cycle 의 random pickAndPlace range — crane 의 parent 컨테이너\n // (= 보통 rack 또는 board) 의 bbox 를 기준으로. parent 가 top-level\n // (root/model-layer) 이면 bbox 의미 없음 → skip.\n const root = (this as any).root\n const parent = (this as any).parent\n let target: any = null\n if (parent && parent !== root && (parent.state as any)?.width > 0) {\n target = parent\n }\n if (!target) return\n\n const tState = target.state ?? {}\n const tl = numOr(tState.left, 0)\n const tt = numOr(tState.top, 0)\n const tw = numOr(tState.width, 0)\n const th = numOr(tState.height, 0)\n if (tw <= 0 || th <= 0) return\n\n const W = numOr((this.state as any).width, 100)\n const H = numOr((this.state as any).height, 100)\n const rotation = numOr((this.state as any).rotation, 0)\n const cos = Math.cos(rotation)\n const sin = Math.sin(rotation)\n\n // Rail origin = crane 의 현재 canvas center. 이 점에서 local X 방향으로 ±rail offset.\n this._railOriginX = numOr((this.state as any).left, 0) + W / 2\n this._railOriginY = numOr((this.state as any).top, 0) + H / 2\n this._railCos = cos\n this._railSin = sin\n\n // Target bbox 4 corner 를 crane local frame 으로 projection.\n // local X (rail) = dx*cos + dy*sin\n // local Z (aisle) = -dx*sin + dy*cos\n const corners = [\n { x: tl, y: tt },\n { x: tl + tw, y: tt },\n { x: tl, y: tt + th },\n { x: tl + tw, y: tt + th }\n ]\n let minRail = Infinity\n let maxRail = -Infinity\n let aisleSum = 0\n for (const c of corners) {\n const dx = c.x - this._railOriginX\n const dy = c.y - this._railOriginY\n const rail = dx * cos + dy * sin\n const aisle = -dx * sin + dy * cos\n if (rail < minRail) minRail = rail\n if (rail > maxRail) maxRail = rail\n aisleSum += aisle\n }\n // Crane 자체 W 만큼 안쪽으로 좁혀 — crane center 가 [minRail+W/2, maxRail-W/2] 안에\n // 있으면 crane 전체가 target bbox 안 (local X 방향).\n this._railMin = minRail + W / 2\n this._railMax = Math.max(this._railMin, maxRail - W / 2)\n this._targetSide = aisleSum >= 0 ? +1 : -1\n }\n\n stopSimulate(): void {\n this._simAbort = true\n // 진행 중인 animate() controller 도 즉시 정지 — onComplete 가 호출되어 _tween Promise\n // 가 resolve → simulate() while 루프가 다음 반복에서 _simAbort 보고 종료. 이걸로\n // 루프 stack 의 strong ref 해소, frameClock subscription 해제.\n const ctrl = (this as any)._animate\n if (ctrl && typeof ctrl.stop === 'function') {\n try { ctrl.stop() } catch {}\n }\n }\n\n /**\n * 컴포넌트 dispose 시 (보드 종료, scene reload 등) 진행 중 simulate 루프와 animate\n * subscription 을 정리. 미정리 시 루프의 await stack 이 component 를 strong reference\n * 로 잡아 GC 안 됨 + frameClock 콜백 살아남음.\n */\n dispose(): void {\n this.stopSimulate()\n super.dispose?.()\n }\n\n private async _oneCycle(): Promise<void> {\n const W = numOr((this.state as any).width, 100)\n const H = numOr((this.state as any).height, 100)\n const D = numOr((this.state as any).depth, W * 4)\n const forkLen = numOr((this.state as any).forkLength, H * 0.6)\n const cw = numOr((this.state as any).carriageWidth, W * 0.1)\n\n // carriagePosition 의 valid range — rail 안 [cw/2, W - cw/2].\n // crane 본체 (rail) 는 안 움직임 — *carriage assembly 만* X 슬라이드.\n const minPos = cw / 2\n const maxPos = Math.max(minPos, W - cw / 2)\n const pickPos = () => minPos + Math.random() * (maxPos - minPos)\n\n const sourcePos = pickPos()\n const destPos = pickPos()\n\n const sourceCH = Math.random() * D * 0.75\n const destCH = Math.random() * D * 0.75\n const liftH = Math.max(20, D * 0.02)\n // 양쪽 rack 모두 서비스 — source/dest 각각 ±Z random (cycle 별 다름).\n const sideA = Math.random() < 0.5 ? -1 : +1\n const sideB = Math.random() < 0.5 ? -1 : +1\n\n // Tween duration 은 base 의 70~130% 사이 random — 여러 crane 이 같은 타이밍으로 안 보이도록.\n const jitter = (base: number): number => base * (0.7 + Math.random() * 0.6)\n\n // 이동: carriagePosition 만 변경 (crane.left/top 안 건드림).\n await this._tween({ status: 'moving', carriagePosition: sourcePos, carriageHeight: sourceCH }, jitter(1500))\n await this._tween({ status: 'loading', forkExtension: sideA * forkLen }, jitter(700))\n await this._tween({ forkLiftRT: liftH }, jitter(400))\n await this._tween({ forkExtension: 0 }, jitter(700))\n await this._tween({ status: 'moving', carriagePosition: destPos, carriageHeight: destCH }, jitter(1500))\n await this._tween({ status: 'unloading', forkExtension: sideB * forkLen }, jitter(700))\n await this._tween({ forkLiftRT: 0 }, jitter(400))\n await this._tween({ status: 'idle', forkExtension: 0 }, jitter(700))\n\n // 사이클 사이 짧은 idle (200~1000ms) — 자연스러운 phase 분산\n await new Promise(r => setTimeout(r, 200 + Math.random() * 800))\n }\n\n /**\n * frameClock 기반 tween — things-scene 의 표준 `Component.animate()` 사용.\n * frameClock.simTime 진행 (view mode + scene 활성) 시에만 step 호출 → modeler\n * 또는 paused 시 자동 정지. scene.simulationSpeed 도 자동 대응.\n */\n private _tween(targets: Record<string, any>, duration: number): Promise<void> {\n const start: Record<string, number> = {}\n for (const k of Object.keys(targets)) {\n if (k === 'status') continue\n const v = (this.state as any)[k]\n start[k] = typeof v === 'number' && Number.isFinite(v) ? v : this._canonicalDefault(k)\n }\n if (typeof targets.status === 'string') {\n this.setState({ status: targets.status })\n }\n return new Promise<void>(resolve => {\n let resolved = false\n const finish = () => {\n if (resolved) return\n resolved = true\n resolve()\n }\n const controller = (this as any).animate({\n duration,\n ease: 'inout',\n delta: 'quad',\n step: (dx: number) => {\n const update: Record<string, number> = {}\n for (const k of Object.keys(start)) {\n const tgt = targets[k]\n if (typeof tgt !== 'number') continue\n update[k] = start[k] + (tgt - start[k]) * dx\n }\n this.setState(update as any)\n },\n onComplete: finish\n })\n controller.start()\n })\n }\n}\n\nfunction resolveCarrierDepth(c: Component): number {\n const eff = (c as any)._realObject?.effectiveDepth\n if (typeof eff === 'number' && Number.isFinite(eff)) return eff\n return numOr((c as any)?.state?.depth, 0)\n}\n\n\n/**\n * Target 의 *world bottom Y* — fork blade 가 위치해야 할 높이.\n *\n * `getWorldPose(c).position.y` 는 *center Y*. fork 는 carrier 의 *바닥* (pallet\n * pocket 진입 면) 에 위치해야 함 → center 에서 depth/2 만큼 빼서 bottom.\n *\n * `effectiveDepth` 는 RealObject 가 자동 계산한 실제 3D Y 키. 미가용 시 state.\n * depth fallback.\n */\nfunction resolveCarrierBottomY(c: Component): number | null {\n if (!c) return null\n try {\n const pose = getWorldPose(c)\n const centerY = pose?.position?.y\n if (typeof centerY !== 'number' || !Number.isFinite(centerY)) return null\n const ro = (c as any)._realObject\n const eff = ro?.effectiveDepth\n const depth = typeof eff === 'number' && Number.isFinite(eff)\n ? eff\n : numOr((c as any)?.state?.depth, 0)\n return centerY - depth / 2\n } catch {\n return null\n }\n}\n\nfunction numOr(v: unknown, dflt: number): number {\n return typeof v === 'number' && Number.isFinite(v) ? v : dflt\n}\n\n// ── 2D render helpers ────────────────────────────────────────────────────\nfunction num(v: unknown, dflt: number): number {\n return typeof v === 'number' && Number.isFinite(v) ? v : dflt\n}\n\nfunction clamp(v: number, min: number, max: number): number {\n return v < min ? min : v > max ? max : v\n}\n\n/** \"#rrggbb\" 또는 \"name\" 색에 alpha 적용. 실패 시 fallback rgba. */\nfunction withAlpha(color: string, alpha: number): string {\n // \"#rrggbb\" 형식만 지원 — name color 는 rgba 직접 변환 못해서 그대로 사용\n if (color && color[0] === '#' && color.length === 7) {\n const r = parseInt(color.slice(1, 3), 16)\n const g = parseInt(color.slice(3, 5), 16)\n const b = parseInt(color.slice(5, 7), 16)\n return `rgba(${r},${g},${b},${alpha})`\n }\n return color\n}\n"]}
package/dist/pallet.d.ts CHANGED
@@ -16,6 +16,14 @@ export type PalletMaterial = 'wood' | 'plastic';
16
16
  /** Pallet 컴포넌트 state */
17
17
  export interface PalletState extends State {
18
18
  material?: PalletMaterial;
19
+ /**
20
+ * Fork pocket 의 깊이 (mm) — pallet 외부 bottom (skid bottom) 부터 deck bottom
21
+ * 까지의 수직 거리. fork blade 가 이 *pocket 안* 으로 수평 진입. 표준 EUR
22
+ * pallet (144mm depth) 의 pocket ≈ 50~60mm.
23
+ *
24
+ * 미명시 시 default = depth 의 40% (= ~60mm for 150mm pallet).
25
+ */
26
+ pocketDepth?: number;
19
27
  material3d?: Material3D;
20
28
  }
21
29
  declare const Pallet_base: any;
@@ -52,6 +60,13 @@ export default class Pallet extends Pallet_base {
52
60
  static align: Alignment;
53
61
  static defaultDepth: number;
54
62
  get nature(): ComponentNature;
63
+ /**
64
+ * Fork pocket 의 깊이 — fork blade 가 진입하는 *pallet 외부 bottom 부터 deck
65
+ * bottom* 까지의 수직 거리. crane.attachPointFor 가 이 값을 차감해서
66
+ * carrier 외부 bottom (skid) 이 fork blade bottom *아래로 pocketDepth 만큼*
67
+ * 깊이 정렬 (= fork 가 pallet 의 *deck 와 skid 사이* 안 으로 들어간 자세).
68
+ */
69
+ get pocketDepth(): number;
55
70
  get anchors(): never[];
56
71
  /** Accept other operation-archetype cargo (boxes, parcels, smaller pallets) as stacked children. */
57
72
  containable(component: Component): boolean;
package/dist/pallet.js CHANGED
@@ -2,7 +2,7 @@ import { __decorate } from "tslib";
2
2
  /*
3
3
  * Copyright © HatioLab Inc. All rights reserved.
4
4
  */
5
- import { ContainerAbstract, rectangularFootprintFrames, getWorldPose, sceneComponent } from '@hatiolab/things-scene';
5
+ import { ContainerAbstract, rectangularFootprintFrames, topApproachFrame, getWorldPose, sceneComponent } from '@hatiolab/things-scene';
6
6
  import { Carriable, Legendable, Placeable } from '@operato/scene-base';
7
7
  import { Pallet3D } from './pallet-3d.js';
8
8
  const BODY_LEGEND = {
@@ -25,6 +25,12 @@ const NATURE = {
25
25
  { display: 'Plastic', value: 'plastic' }
26
26
  ]
27
27
  }
28
+ },
29
+ {
30
+ type: 'number',
31
+ label: 'pocket-depth',
32
+ name: 'pocketDepth',
33
+ placeholder: 'mm — fork 진입 pocket 깊이 (skid bottom → deck bottom). default depth × 40%.'
28
34
  }
29
35
  ],
30
36
  help: 'scene/component/pallet'
@@ -73,6 +79,23 @@ let Pallet = class Pallet extends Carriable(Legendable(Placeable(ContainerAbstra
73
79
  get nature() {
74
80
  return NATURE;
75
81
  }
82
+ /**
83
+ * Fork pocket 의 깊이 — fork blade 가 진입하는 *pallet 외부 bottom 부터 deck
84
+ * bottom* 까지의 수직 거리. crane.attachPointFor 가 이 값을 차감해서
85
+ * carrier 외부 bottom (skid) 이 fork blade bottom *아래로 pocketDepth 만큼*
86
+ * 깊이 정렬 (= fork 가 pallet 의 *deck 와 skid 사이* 안 으로 들어간 자세).
87
+ */
88
+ get pocketDepth() {
89
+ const explicit = this.state.pocketDepth;
90
+ if (typeof explicit === 'number' && Number.isFinite(explicit) && explicit >= 0) {
91
+ return explicit;
92
+ }
93
+ const d = this.state.depth;
94
+ const depth = typeof d === 'number' && Number.isFinite(d) && d > 0
95
+ ? d
96
+ : (this.constructor.defaultDepth ?? 150);
97
+ return depth * 0.4;
98
+ }
76
99
  get anchors() {
77
100
  return [];
78
101
  }
@@ -181,7 +204,7 @@ let Pallet = class Pallet extends Carriable(Legendable(Placeable(ContainerAbstra
181
204
  };
182
205
  })();
183
206
  const longerAxis = Math.max(width, height);
184
- return rectangularFootprintFrames({
207
+ const forkFrames = rectangularFootprintFrames({
185
208
  carrierWorld: me,
186
209
  width,
187
210
  depth: height,
@@ -192,6 +215,19 @@ let Pallet = class Pallet extends Carriable(Legendable(Placeable(ContainerAbstra
192
215
  tolerance: { positionMm: 50, angleDeg: 5 },
193
216
  priority: 0
194
217
  });
218
+ // 큰 AGV (deck size 충분) 가 pallet 을 위에 적재하는 패턴. priority 낮음
219
+ // — forklift fork 가 더 자연스러운 default. AGV deck size 가 pallet 보다
220
+ // 작으면 application 측이 carrier 의 dimensions check 필요.
221
+ const deckFrame = topApproachFrame({
222
+ carrierWorld: me,
223
+ topY: palletDepth,
224
+ approachDistance: longerAxis * 0.5 + 100,
225
+ toolType: 'agv-deck',
226
+ tolerance: { positionMm: 30, angleDeg: 4 },
227
+ priority: 1,
228
+ id: 'top-deck'
229
+ });
230
+ return [...forkFrames, deckFrame];
195
231
  }
196
232
  };
197
233
  Pallet = __decorate([
package/dist/pallet.js.map CHANGED
@@ -1 +1 @@
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* Copyright © HatioLab Inc. All rights reserved.\n */\nimport {\n Component,\n ComponentNature,\n ContainerAbstract,\n RealObject,\n Pose6DOF,\n rectangularFootprintFrames,\n getWorldPose,\n sceneComponent\n} from '@hatiolab/things-scene'\nimport type { State, Material3D, PickupFrame, PoseSerialized } from '@hatiolab/things-scene'\nimport {\n Carriable,\n Legendable,\n Placeable,\n type Alignment,\n type LegendBinding,\n type PlacementArchetype\n} from '@operato/scene-base'\n\nimport { Pallet3D } from './pallet-3d.js'\n\n/**\n * Pallet material — drives both 2D fill color and 3D structure.\n *\n * - `wood` — traditional EUR / EPAL pallet: parallel slats on top and\n * bottom, three perpendicular stringers between them.\n * - `plastic` — molded one-piece pallet: solid top deck with cutouts,\n * hollow underside with feet. Distinct ribbed underside.\n *\n * Adding a third material (e.g. metal, composite) is a one-line change to the\n * legend + a 3D variant in pallet-3d.ts.\n */\nexport type PalletMaterial = 'wood' | 'plastic'\n\n/** Pallet 컴포넌트 state */\nexport interface PalletState extends State {\n // ── 외관 ──\n material?: PalletMaterial\n\n // ── 3D 재질 ──\n material3d?: Material3D\n}\n\nconst BODY_LEGEND = {\n wood: '#a87644',\n plastic: '#5a6a78',\n default: '#a87644'\n}\n\nconst NATURE: ComponentNature = {\n mutable: false,\n resizable: true,\n rotatable: true,\n properties: [\n {\n type: 'select',\n label: 'material',\n name: 'material',\n property: {\n options: [\n { display: 'Wood', value: 'wood' },\n { display: 'Plastic', value: 'plastic' }\n ]\n }\n }\n ],\n help: 'scene/component/pallet'\n}\n\n// Carriable: a pallet can sit on AGV / Forklift / robot-arm gripper / Spot\n// and also accept boxes / parcels as children (ContainerAbstract base\n// provides the child-container behavior; Carriable only adds the\n// holder-mount hook).\n//\n// `ContainerAbstract` (not `Container`) — Container = MixinHTMLElement(ContainerAbstract),\n// which forces `isHTMLElement(): true` and trips the 3D pipeline's\n// addObject DOM-skip gate. Pallet renders only as a 3D mesh.\n/**\n * Pallet — a flat transport structure that goods are stacked and stored on.\n *\n * Standard EUR pallet is 1200 × 800mm × 144mm; we don't enforce these\n * dimensions but they're a good starting point for the catalog templates.\n *\n * **Container-based.** Boxes / parcels stacked on the pallet are added as\n * children — same `containable()` archetype-filter pattern as Forklift / Agv.\n * Visual stacking (children rendering on top of the pallet rather than at\n * absolute operation level) is a v2 concern; see ARCHITECTURE NOTES below.\n *\n * **Placement = `operation`.** A pallet's *normal* state is loaded and in\n * transit on a conveyor / AGV / forklift fork — at operation level. Empty\n * pallets in a floor-storage area are an exceptional state where the user\n * sets `state.zPos = 0` explicitly. Default to the common case.\n *\n * ## ARCHITECTURE NOTES — visual stacking\n *\n * When a Box (also `placement: 'operation'`) is added as a child of a\n * Pallet, both default to z = operation_height. They overlap visually\n * rather than the box sitting on top of the pallet. Solving this cleanly\n * (parent-relative z derivation when the parent is a structural carrier)\n * is a follow-up — fmsim's pattern is to detect parent type at render time\n * (machine-3d.ts:113-122). v1 accepts the visual overlap; v2 will add the\n * detection.\n */\n@sceneComponent('pallet')\nexport default class Pallet extends Carriable(Legendable(Placeable(ContainerAbstract))) {\n declare state: PalletState\n\n static legends: Record<string, LegendBinding> = {\n bodyColor: { from: 'material', legend: BODY_LEGEND }\n }\n\n static placement: PlacementArchetype = 'operation'\n static align: Alignment = 'bottom'\n static defaultDepth = 150 // EUR pallet is 144mm; 150 is the round number convention\n\n get nature() {\n return NATURE\n }\n\n get anchors() {\n return []\n }\n\n /** Accept other operation-archetype cargo (boxes, parcels, smaller pallets) as stacked children. */\n containable(component: Component) {\n const archetype = (component.constructor as any).placement\n if (archetype === 'operation') return true\n return component.isDescendible(this)\n }\n\n /**\n * 2D — top-down silhouette. Body is a flat rectangle (wood/plastic deck);\n * `postrender()` adds the deck pattern + edge stroke so the pallet reads\n * as a pallet instead of a featureless rectangle.\n */\n render(ctx: CanvasRenderingContext2D) {\n const { width, height, left, top } = this.state\n ctx.beginPath()\n ctx.rect(left, top, width, height)\n }\n\n /**\n * Deck pattern + edge stroke. Wood: parallel slats with darker grooves\n * between (typical EUR pallet deck). Plastic: cross-cutout pattern\n * suggesting the molded reinforcement ribs.\n *\n * Slats run along the *short* axis of the rectangle (= along the longer\n * stringer direction in real life), so a 1200×800 pallet shows multiple\n * narrow slats across the 1200mm dimension — matching the EUR layout.\n */\n postrender(ctx: CanvasRenderingContext2D) {\n super.postrender?.(ctx)\n\n const { width, height, left, top } = this.state\n const isPlastic = this.state.material === 'plastic'\n\n ctx.save()\n\n if (!isPlastic) {\n // Wood — slats. Run them along the longer axis so the grooves are\n // perpendicular to the longer side (typical pallet appearance).\n const longAxisHorizontal = width >= height\n const slatCount = 5\n const grooveColor = '#7a4f25'\n ctx.fillStyle = grooveColor\n if (longAxisHorizontal) {\n // grooves vertical (X direction across the width)\n const grooveW = Math.max(1, width * 0.012)\n const slatW = (width - grooveW * (slatCount - 1)) / slatCount\n for (let i = 1; i < slatCount; i++) {\n const x = left + i * slatW + (i - 1) * grooveW\n ctx.fillRect(x, top + height * 0.05, grooveW, height * 0.9)\n }\n } else {\n const grooveH = Math.max(1, height * 0.012)\n const slatH = (height - grooveH * (slatCount - 1)) / slatCount\n for (let i = 1; i < slatCount; i++) {\n const y = top + i * slatH + (i - 1) * grooveH\n ctx.fillRect(left + width * 0.05, y, width * 0.9, grooveH)\n }\n }\n } else {\n // Plastic — cross + corner cutouts hint\n ctx.strokeStyle = '#3a4956'\n ctx.lineWidth = Math.max(1, Math.min(width, height) * 0.012)\n ctx.beginPath()\n ctx.moveTo(left + width * 0.5, top + height * 0.1)\n ctx.lineTo(left + width * 0.5, top + height * 0.9)\n ctx.moveTo(left + width * 0.1, top + height * 0.5)\n ctx.lineTo(left + width * 0.9, top + height * 0.5)\n ctx.stroke()\n }\n\n // Edge stroke\n ctx.strokeStyle = isPlastic ? '#2a3946' : '#5e3818'\n ctx.lineWidth = 1\n ctx.strokeRect(left, top, width, height)\n\n ctx.restore()\n }\n\n get fillStyle() {\n return (this.state.bodyColor as string) || '#a87644'\n }\n\n buildRealObject(): RealObject | undefined {\n return new Pallet3D(this)\n }\n\n /**\n * Phase H — pickup contract. EUR/EPAL pallet 의 fork 진입은 양 단면 (긴 변\n * 두 군데). 'east' / 'west' = pallet 의 짧은 축 방향에서 fork 가 들어감.\n *\n * fork 진입 높이 (entryHeight) 는 pallet 의 fork pocket 위치 — pallet 의\n * 바닥에서 약 50mm (top deck 와 bottom deck 사이의 stringer 영역). 표준\n * EUR pallet 의 fork pocket 은 144mm 두께의 약 50% 지점.\n *\n * approachDistance 는 forklift 가 fork 끝을 pallet 에 닿기 직전 hover 자세 —\n * pallet 길이만큼 떨어져서 fork 길이 (보통 1100mm) 가 다 들어가도록 한다.\n * 여기선 conservative 하게 pallet 너비 + 200mm.\n */\n pickupFrames(): PickupFrame[] {\n const { width = 1200, height = 800 } = this.state\n const palletDepth = (this.constructor as any).defaultDepth ?? 150\n\n // 4-way pallet: 모든 면에서 fork 진입 가능. 2-way 는 sides 를 ['east','west']\n // 로 한정 — pallet 의 stringer 방향에 따라 다르나 default 는 4-way 가정.\n // (state.palletType 같은 속성 추가 시 분기 가능 — 현재는 4-way 가정.)\n const me: PoseSerialized = (() => {\n const wp = getWorldPose(this)\n return {\n position: { x: wp.position.x, y: wp.position.y, z: wp.position.z },\n rotation: { x: wp.rotation.x, y: wp.rotation.y, z: wp.rotation.z, w: wp.rotation.w }\n }\n })()\n\n const longerAxis = Math.max(width, height)\n\n return rectangularFootprintFrames({\n carrierWorld: me,\n width,\n depth: height,\n entryHeight: palletDepth * 0.4, // fork pocket 중심\n approachDistance: longerAxis + 200,\n sides: ['east', 'west', 'north', 'south'],\n toolType: 'forklift-fork',\n tolerance: { positionMm: 50, angleDeg: 5 },\n priority: 0\n })\n }\n}\n"]}
1
+ 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* Copyright © HatioLab Inc. All rights reserved.\n */\nimport {\n Component,\n ComponentNature,\n ContainerAbstract,\n RealObject,\n Pose6DOF,\n rectangularFootprintFrames,\n topApproachFrame,\n getWorldPose,\n sceneComponent\n} from '@hatiolab/things-scene'\nimport type { State, Material3D, PickupFrame, PoseSerialized } from '@hatiolab/things-scene'\nimport {\n Carriable,\n Legendable,\n Placeable,\n type Alignment,\n type LegendBinding,\n type PlacementArchetype\n} from '@operato/scene-base'\n\nimport { Pallet3D } from './pallet-3d.js'\n\n/**\n * Pallet material — drives both 2D fill color and 3D structure.\n *\n * - `wood` — traditional EUR / EPAL pallet: parallel slats on top and\n * bottom, three perpendicular stringers between them.\n * - `plastic` — molded one-piece pallet: solid top deck with cutouts,\n * hollow underside with feet. Distinct ribbed underside.\n *\n * Adding a third material (e.g. metal, composite) is a one-line change to the\n * legend + a 3D variant in pallet-3d.ts.\n */\nexport type PalletMaterial = 'wood' | 'plastic'\n\n/** Pallet 컴포넌트 state */\nexport interface PalletState extends State {\n // ── 외관 ──\n material?: PalletMaterial\n\n /**\n * Fork pocket 의 깊이 (mm) — pallet 외부 bottom (skid bottom) 부터 deck bottom\n * 까지의 수직 거리. fork blade 가 이 *pocket 안* 으로 수평 진입. 표준 EUR\n * pallet (144mm depth) 의 pocket ≈ 50~60mm.\n *\n * 미명시 시 default = depth 의 40% (= ~60mm for 150mm pallet).\n */\n pocketDepth?: number\n\n // ── 3D 재질 ──\n material3d?: Material3D\n}\n\nconst BODY_LEGEND = {\n wood: '#a87644',\n plastic: '#5a6a78',\n default: '#a87644'\n}\n\nconst NATURE: ComponentNature = {\n mutable: false,\n resizable: true,\n rotatable: true,\n properties: [\n {\n type: 'select',\n label: 'material',\n name: 'material',\n property: {\n options: [\n { display: 'Wood', value: 'wood' },\n { display: 'Plastic', value: 'plastic' }\n ]\n }\n },\n {\n type: 'number',\n label: 'pocket-depth',\n name: 'pocketDepth',\n placeholder: 'mm — fork 진입 pocket 깊이 (skid bottom → deck bottom). default depth × 40%.'\n }\n ],\n help: 'scene/component/pallet'\n}\n\n// Carriable: a pallet can sit on AGV / Forklift / robot-arm gripper / Spot\n// and also accept boxes / parcels as children (ContainerAbstract base\n// provides the child-container behavior; Carriable only adds the\n// holder-mount hook).\n//\n// `ContainerAbstract` (not `Container`) — Container = MixinHTMLElement(ContainerAbstract),\n// which forces `isHTMLElement(): true` and trips the 3D pipeline's\n// addObject DOM-skip gate. Pallet renders only as a 3D mesh.\n/**\n * Pallet — a flat transport structure that goods are stacked and stored on.\n *\n * Standard EUR pallet is 1200 × 800mm × 144mm; we don't enforce these\n * dimensions but they're a good starting point for the catalog templates.\n *\n * **Container-based.** Boxes / parcels stacked on the pallet are added as\n * children — same `containable()` archetype-filter pattern as Forklift / Agv.\n * Visual stacking (children rendering on top of the pallet rather than at\n * absolute operation level) is a v2 concern; see ARCHITECTURE NOTES below.\n *\n * **Placement = `operation`.** A pallet's *normal* state is loaded and in\n * transit on a conveyor / AGV / forklift fork — at operation level. Empty\n * pallets in a floor-storage area are an exceptional state where the user\n * sets `state.zPos = 0` explicitly. Default to the common case.\n *\n * ## ARCHITECTURE NOTES — visual stacking\n *\n * When a Box (also `placement: 'operation'`) is added as a child of a\n * Pallet, both default to z = operation_height. They overlap visually\n * rather than the box sitting on top of the pallet. Solving this cleanly\n * (parent-relative z derivation when the parent is a structural carrier)\n * is a follow-up — fmsim's pattern is to detect parent type at render time\n * (machine-3d.ts:113-122). v1 accepts the visual overlap; v2 will add the\n * detection.\n */\n@sceneComponent('pallet')\nexport default class Pallet extends Carriable(Legendable(Placeable(ContainerAbstract))) {\n declare state: PalletState\n\n static legends: Record<string, LegendBinding> = {\n bodyColor: { from: 'material', legend: BODY_LEGEND }\n }\n\n static placement: PlacementArchetype = 'operation'\n static align: Alignment = 'bottom'\n static defaultDepth = 150 // EUR pallet is 144mm; 150 is the round number convention\n\n get nature() {\n return NATURE\n }\n\n /**\n * Fork pocket 의 깊이 — fork blade 가 진입하는 *pallet 외부 bottom 부터 deck\n * bottom* 까지의 수직 거리. crane.attachPointFor 가 이 값을 차감해서\n * carrier 외부 bottom (skid) 이 fork blade bottom *아래로 pocketDepth 만큼*\n * 깊이 정렬 (= fork 가 pallet 의 *deck 와 skid 사이* 안 으로 들어간 자세).\n */\n get pocketDepth(): number {\n const explicit = (this.state as any).pocketDepth\n if (typeof explicit === 'number' && Number.isFinite(explicit) && explicit >= 0) {\n return explicit\n }\n const d = this.state.depth\n const depth = typeof d === 'number' && Number.isFinite(d) && d > 0\n ? d\n : ((this.constructor as any).defaultDepth ?? 150)\n return depth * 0.4\n }\n\n get anchors() {\n return []\n }\n\n /** Accept other operation-archetype cargo (boxes, parcels, smaller pallets) as stacked children. */\n containable(component: Component) {\n const archetype = (component.constructor as any).placement\n if (archetype === 'operation') return true\n return component.isDescendible(this)\n }\n\n /**\n * 2D — top-down silhouette. Body is a flat rectangle (wood/plastic deck);\n * `postrender()` adds the deck pattern + edge stroke so the pallet reads\n * as a pallet instead of a featureless rectangle.\n */\n render(ctx: CanvasRenderingContext2D) {\n const { width, height, left, top } = this.state\n ctx.beginPath()\n ctx.rect(left, top, width, height)\n }\n\n /**\n * Deck pattern + edge stroke. Wood: parallel slats with darker grooves\n * between (typical EUR pallet deck). Plastic: cross-cutout pattern\n * suggesting the molded reinforcement ribs.\n *\n * Slats run along the *short* axis of the rectangle (= along the longer\n * stringer direction in real life), so a 1200×800 pallet shows multiple\n * narrow slats across the 1200mm dimension — matching the EUR layout.\n */\n postrender(ctx: CanvasRenderingContext2D) {\n super.postrender?.(ctx)\n\n const { width, height, left, top } = this.state\n const isPlastic = this.state.material === 'plastic'\n\n ctx.save()\n\n if (!isPlastic) {\n // Wood — slats. Run them along the longer axis so the grooves are\n // perpendicular to the longer side (typical pallet appearance).\n const longAxisHorizontal = width >= height\n const slatCount = 5\n const grooveColor = '#7a4f25'\n ctx.fillStyle = grooveColor\n if (longAxisHorizontal) {\n // grooves vertical (X direction across the width)\n const grooveW = Math.max(1, width * 0.012)\n const slatW = (width - grooveW * (slatCount - 1)) / slatCount\n for (let i = 1; i < slatCount; i++) {\n const x = left + i * slatW + (i - 1) * grooveW\n ctx.fillRect(x, top + height * 0.05, grooveW, height * 0.9)\n }\n } else {\n const grooveH = Math.max(1, height * 0.012)\n const slatH = (height - grooveH * (slatCount - 1)) / slatCount\n for (let i = 1; i < slatCount; i++) {\n const y = top + i * slatH + (i - 1) * grooveH\n ctx.fillRect(left + width * 0.05, y, width * 0.9, grooveH)\n }\n }\n } else {\n // Plastic — cross + corner cutouts hint\n ctx.strokeStyle = '#3a4956'\n ctx.lineWidth = Math.max(1, Math.min(width, height) * 0.012)\n ctx.beginPath()\n ctx.moveTo(left + width * 0.5, top + height * 0.1)\n ctx.lineTo(left + width * 0.5, top + height * 0.9)\n ctx.moveTo(left + width * 0.1, top + height * 0.5)\n ctx.lineTo(left + width * 0.9, top + height * 0.5)\n ctx.stroke()\n }\n\n // Edge stroke\n ctx.strokeStyle = isPlastic ? '#2a3946' : '#5e3818'\n ctx.lineWidth = 1\n ctx.strokeRect(left, top, width, height)\n\n ctx.restore()\n }\n\n get fillStyle() {\n return (this.state.bodyColor as string) || '#a87644'\n }\n\n buildRealObject(): RealObject | undefined {\n return new Pallet3D(this)\n }\n\n /**\n * Phase H — pickup contract. EUR/EPAL pallet 의 fork 진입은 양 단면 (긴 변\n * 두 군데). 'east' / 'west' = pallet 의 짧은 축 방향에서 fork 가 들어감.\n *\n * fork 진입 높이 (entryHeight) 는 pallet 의 fork pocket 위치 — pallet 의\n * 바닥에서 약 50mm (top deck 와 bottom deck 사이의 stringer 영역). 표준\n * EUR pallet 의 fork pocket 은 144mm 두께의 약 50% 지점.\n *\n * approachDistance 는 forklift 가 fork 끝을 pallet 에 닿기 직전 hover 자세 —\n * pallet 길이만큼 떨어져서 fork 길이 (보통 1100mm) 가 다 들어가도록 한다.\n * 여기선 conservative 하게 pallet 너비 + 200mm.\n */\n pickupFrames(): PickupFrame[] {\n const { width = 1200, height = 800 } = this.state\n const palletDepth = (this.constructor as any).defaultDepth ?? 150\n\n // 4-way pallet: 모든 면에서 fork 진입 가능. 2-way 는 sides 를 ['east','west']\n // 로 한정 — pallet 의 stringer 방향에 따라 다르나 default 는 4-way 가정.\n // (state.palletType 같은 속성 추가 시 분기 가능 — 현재는 4-way 가정.)\n const me: PoseSerialized = (() => {\n const wp = getWorldPose(this)\n return {\n position: { x: wp.position.x, y: wp.position.y, z: wp.position.z },\n rotation: { x: wp.rotation.x, y: wp.rotation.y, z: wp.rotation.z, w: wp.rotation.w }\n }\n })()\n\n const longerAxis = Math.max(width, height)\n\n const forkFrames = rectangularFootprintFrames({\n carrierWorld: me,\n width,\n depth: height,\n entryHeight: palletDepth * 0.4, // fork pocket 중심\n approachDistance: longerAxis + 200,\n sides: ['east', 'west', 'north', 'south'],\n toolType: 'forklift-fork',\n tolerance: { positionMm: 50, angleDeg: 5 },\n priority: 0\n })\n\n // 큰 AGV (deck size 충분) 가 pallet 을 위에 적재하는 패턴. priority 낮음\n // — forklift fork 가 더 자연스러운 default. AGV deck size 가 pallet 보다\n // 작으면 application 측이 carrier 의 dimensions check 필요.\n const deckFrame = topApproachFrame({\n carrierWorld: me,\n topY: palletDepth,\n approachDistance: longerAxis * 0.5 + 100,\n toolType: 'agv-deck',\n tolerance: { positionMm: 30, angleDeg: 4 },\n priority: 1,\n id: 'top-deck'\n })\n\n return [...forkFrames, deckFrame]\n }\n}\n"]}
package/dist/parcel-3d.js CHANGED
@@ -18,6 +18,25 @@ import { RealObjectGroup } from '@hatiolab/things-scene';
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18
  const CARDBOARD_COLOR = 0xc8a878;
19
19
  const TAPE_COLOR = 0xddc899;
20
20
  const LABEL_COLOR = 0xeeeeee;
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+ // ── Module-level shared materials ───────────────────────────────────────────
22
+ // Parcel 인스턴스가 수백~수천 가능. instance 별 new MeshStandardMaterial 시
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+ // material 개수 폭증 → GPU memory + draw call 비효율. static color 라 단일
24
+ // instance 공유. 색 변경 시 모든 Parcel 에 자동 반영 (의도).
25
+ const PARCEL_BODY_MATERIAL = new THREE.MeshStandardMaterial({
26
+ color: CARDBOARD_COLOR,
27
+ metalness: 0,
28
+ roughness: 0.9
29
+ });
30
+ const PARCEL_TAPE_MATERIAL = new THREE.MeshStandardMaterial({
31
+ color: TAPE_COLOR,
32
+ metalness: 0.05,
33
+ roughness: 0.5
34
+ });
35
+ const PARCEL_LABEL_MATERIAL = new THREE.MeshStandardMaterial({
36
+ color: LABEL_COLOR,
37
+ metalness: 0,
38
+ roughness: 0.4
39
+ });
21
40
  export class Parcel3D extends RealObjectGroup {
22
41
  build() {
23
42
  super.build();
@@ -25,12 +44,7 @@ export class Parcel3D extends RealObjectGroup {
25
44
  const baseY = -depth / 2;
26
45
  // ── Main body ────────────────────────────────────────────────────
27
46
  const bodyGeo = new THREE.BoxGeometry(width, depth, height);
28
- const bodyMaterial = new THREE.MeshStandardMaterial({
29
- color: CARDBOARD_COLOR,
30
- metalness: 0,
31
- roughness: 0.9
32
- });
33
- const bodyMesh = new THREE.Mesh(bodyGeo, bodyMaterial);
47
+ const bodyMesh = new THREE.Mesh(bodyGeo, PARCEL_BODY_MATERIAL);
34
48
  bodyMesh.position.set(0, 0, 0);
35
49
  bodyMesh.castShadow = true;
36
50
  bodyMesh.receiveShadow = true;
@@ -42,24 +56,14 @@ export class Parcel3D extends RealObjectGroup {
42
56
  const tapeGeo = tapeAlongLong
43
57
  ? new THREE.BoxGeometry(width * 1.005, tapeT, tapeW)
44
58
  : new THREE.BoxGeometry(tapeW, tapeT, height * 1.005);
45
- const tapeMaterial = new THREE.MeshStandardMaterial({
46
- color: TAPE_COLOR,
47
- metalness: 0.05,
48
- roughness: 0.5
49
- });
50
- const tapeMesh = new THREE.Mesh(tapeGeo, tapeMaterial);
59
+ const tapeMesh = new THREE.Mesh(tapeGeo, PARCEL_TAPE_MATERIAL);
51
60
  tapeMesh.position.set(0, baseY + depth + tapeT / 2 - 0.01, 0);
52
61
  this.object3d.add(tapeMesh);
53
62
  // ── Shipping label (small white rectangle on top) ────────────────
54
63
  const labelW = Math.min(width, height) * 0.35;
55
64
  const labelH = labelW * 0.6;
56
65
  const labelGeo = new THREE.BoxGeometry(labelW, depth * 0.005, labelH);
57
- const labelMaterial = new THREE.MeshStandardMaterial({
58
- color: LABEL_COLOR,
59
- metalness: 0,
60
- roughness: 0.4
61
- });
62
- const labelMesh = new THREE.Mesh(labelGeo, labelMaterial);
66
+ const labelMesh = new THREE.Mesh(labelGeo, PARCEL_LABEL_MATERIAL);
63
67
  // Position on top, off-center by ~25% of long axis
64
68
  if (tapeAlongLong) {
65
69
  labelMesh.position.set(width * 0.2, baseY + depth + depth * 0.0025, -height * 0.15);
package/dist/parcel-3d.js.map CHANGED
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All rights reserved.\n *\n * Parcel 3D — a cardboard package.\n *\n * Structure:\n * - main body box (cardboard color)\n * - tape line running across the top (the visual signature — what makes\n * this read as a \"shipping parcel\" rather than a generic box)\n * - small label area on top (white rectangle suggesting a shipping label)\n *\n * Kept very simple — parcels in a logistics scene are typically present in\n * large numbers (sortation lines, fulfillment bays), so polygon count\n * matters more than it does for one-off equipment.\n */\n\nimport * as THREE from 'three'\nimport { RealObjectGroup } from '@hatiolab/things-scene'\n\nconst CARDBOARD_COLOR = 0xc8a878\nconst TAPE_COLOR = 0xddc899\nconst LABEL_COLOR = 0xeeeeee\n\nexport class Parcel3D extends RealObjectGroup {\n build() {\n super.build()\n\n const { width, height, depth = 150 } = this.component.state\n const baseY = -depth / 2\n\n // ── Main body ────────────────────────────────────────────────────\n const bodyGeo = new THREE.BoxGeometry(width, depth, height)\n const bodyMaterial = new THREE.MeshStandardMaterial({\n color: CARDBOARD_COLOR,\n metalness: 0,\n roughness: 0.9\n })\n const bodyMesh = new THREE.Mesh(bodyGeo, bodyMaterial)\n bodyMesh.position.set(0, 0, 0)\n bodyMesh.castShadow = true\n bodyMesh.receiveShadow = true\n this.object3d.add(bodyMesh)\n\n // ── Tape line on top (running along the long axis) ───────────────\n const tapeW = Math.min(width, height) * 0.10\n const tapeT = depth * 0.02\n const tapeAlongLong = width >= height\n const tapeGeo = tapeAlongLong\n ? new THREE.BoxGeometry(width * 1.005, tapeT, tapeW)\n : new THREE.BoxGeometry(tapeW, tapeT, height * 1.005)\n const tapeMaterial = new THREE.MeshStandardMaterial({\n color: TAPE_COLOR,\n metalness: 0.05,\n roughness: 0.5\n })\n const tapeMesh = new THREE.Mesh(tapeGeo, tapeMaterial)\n tapeMesh.position.set(0, baseY + depth + tapeT / 2 - 0.01, 0)\n this.object3d.add(tapeMesh)\n\n // ── Shipping label (small white rectangle on top) ────────────────\n const labelW = Math.min(width, height) * 0.35\n const labelH = labelW * 0.6\n const labelGeo = new THREE.BoxGeometry(labelW, depth * 0.005, labelH)\n const labelMaterial = new THREE.MeshStandardMaterial({\n color: LABEL_COLOR,\n metalness: 0,\n roughness: 0.4\n })\n const labelMesh = new THREE.Mesh(labelGeo, labelMaterial)\n // Position on top, off-center by ~25% of long axis\n if (tapeAlongLong) {\n labelMesh.position.set(width * 0.2, baseY + depth + depth * 0.0025, -height * 0.15)\n } else {\n labelMesh.position.set(width * 0.15, baseY + depth + depth * 0.0025, height * 0.2)\n }\n this.object3d.add(labelMesh)\n }\n\n updateDimension() {}\n\n onchange(after: Record<string, unknown>, before: Record<string, unknown>) {\n if ('width' in after || 'height' in after || 'depth' in after) {\n this.update()\n return\n }\n super.onchange(after, before)\n }\n\n updateAlpha() {}\n}\n"]}
1
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All rights reserved.\n *\n * Parcel 3D — a cardboard package.\n *\n * Structure:\n * - main body box (cardboard color)\n * - tape line running across the top (the visual signature — what makes\n * this read as a \"shipping parcel\" rather than a generic box)\n * - small label area on top (white rectangle suggesting a shipping label)\n *\n * Kept very simple — parcels in a logistics scene are typically present in\n * large numbers (sortation lines, fulfillment bays), so polygon count\n * matters more than it does for one-off equipment.\n */\n\nimport * as THREE from 'three'\nimport { RealObjectGroup } from '@hatiolab/things-scene'\n\nconst CARDBOARD_COLOR = 0xc8a878\nconst TAPE_COLOR = 0xddc899\nconst LABEL_COLOR = 0xeeeeee\n\n// ── Module-level shared materials ───────────────────────────────────────────\n// Parcel 인스턴스가 수백~수천 가능. instance 별 new MeshStandardMaterial 시\n// material 개수 폭증 → GPU memory + draw call 비효율. static color 라 단일\n// instance 공유. 색 변경 시 모든 Parcel 에 자동 반영 (의도).\nconst PARCEL_BODY_MATERIAL = new THREE.MeshStandardMaterial({\n color: CARDBOARD_COLOR,\n metalness: 0,\n roughness: 0.9\n})\nconst PARCEL_TAPE_MATERIAL = new THREE.MeshStandardMaterial({\n color: TAPE_COLOR,\n metalness: 0.05,\n roughness: 0.5\n})\nconst PARCEL_LABEL_MATERIAL = new THREE.MeshStandardMaterial({\n color: LABEL_COLOR,\n metalness: 0,\n roughness: 0.4\n})\n\nexport class Parcel3D extends RealObjectGroup {\n build() {\n super.build()\n\n const { width, height, depth = 150 } = this.component.state\n const baseY = -depth / 2\n\n // ── Main body ────────────────────────────────────────────────────\n const bodyGeo = new THREE.BoxGeometry(width, depth, height)\n const bodyMesh = new THREE.Mesh(bodyGeo, PARCEL_BODY_MATERIAL)\n bodyMesh.position.set(0, 0, 0)\n bodyMesh.castShadow = true\n bodyMesh.receiveShadow = true\n this.object3d.add(bodyMesh)\n\n // ── Tape line on top (running along the long axis) ───────────────\n const tapeW = Math.min(width, height) * 0.10\n const tapeT = depth * 0.02\n const tapeAlongLong = width >= height\n const tapeGeo = tapeAlongLong\n ? new THREE.BoxGeometry(width * 1.005, tapeT, tapeW)\n : new THREE.BoxGeometry(tapeW, tapeT, height * 1.005)\n const tapeMesh = new THREE.Mesh(tapeGeo, PARCEL_TAPE_MATERIAL)\n tapeMesh.position.set(0, baseY + depth + tapeT / 2 - 0.01, 0)\n this.object3d.add(tapeMesh)\n\n // ── Shipping label (small white rectangle on top) ────────────────\n const labelW = Math.min(width, height) * 0.35\n const labelH = labelW * 0.6\n const labelGeo = new THREE.BoxGeometry(labelW, depth * 0.005, labelH)\n const labelMesh = new THREE.Mesh(labelGeo, PARCEL_LABEL_MATERIAL)\n // Position on top, off-center by ~25% of long axis\n if (tapeAlongLong) {\n labelMesh.position.set(width * 0.2, baseY + depth + depth * 0.0025, -height * 0.15)\n } else {\n labelMesh.position.set(width * 0.15, baseY + depth + depth * 0.0025, height * 0.2)\n }\n this.object3d.add(labelMesh)\n }\n\n updateDimension() {}\n\n onchange(after: Record<string, unknown>, before: Record<string, unknown>) {\n if ('width' in after || 'height' in after || 'depth' in after) {\n this.update()\n return\n }\n super.onchange(after, before)\n }\n\n updateAlpha() {}\n}\n"]}
package/dist/parcel.d.ts CHANGED
@@ -34,9 +34,10 @@ export default class Parcel extends Parcel_base {
34
34
  get fillStyle(): string;
35
35
  buildRealObject(): RealObject | undefined;
36
36
  /**
37
- * Phase H — pickup contract. Parcel 은 위에서 vacuum gripper / suction cup 으로
38
- * 집기 — Box 와 동일한 패턴이지만 cardboard 표면이라 더 큰 흡착 면 필요.
39
- * tolerance 도 약간 완화 (cardboard 변형 가능성).
37
+ * Phase H — pickup contract. Parcel 의 pickup 방식:
38
+ * - gripper (vacuum / suction): 위에서 흡착 — RobotArm
39
+ * - agv-deck: AGV/Forklift 의 deck 위에 위에서 얹기 — 같은 top approach 지만
40
+ * deck 자체가 운반체라 tolerance 더 완화
40
41
  */
41
42
  pickupFrames(): PickupFrame[];
42
43
  }