@operato/scene-storage 10.0.0-beta.40 → 10.0.0-beta.42

package/src/index.ts

@@ -13,12 +13,11 @@ export { default as StorageRack } from './storage-rack.js'
 export type { StorageRackState } from './storage-rack.js'
 export { StorageRack3D } from './storage-rack-3d.js'
 export { default as RackGrid } from './rack-grid.js'
-export type { RackGridState } from './rack-grid.js'
+export type { RackGridState, CellOverride } from './rack-grid.js'
 export { RackGrid3D } from './rack-grid-3d.js'
+export { default as RackGridCell } from './rack-grid-cell.js'
+export type { RackGridCellState } from './rack-grid-cell.js'
 export { default as MobileStorageRack } from './mobile-storage-rack.js'
-export { default as StorageCell } from './storage-cell.js'
-export type { StorageCellType } from './storage-cell.js'
-export { StorageCell3D } from './storage-cell-3d.js'
 export { default as Crane } from './crane.js'
 export type { CraneState, CraneStatus } from './crane.js'
 export { Crane3D } from './crane-3d.js'

package/src/pallet.ts

@@ -8,6 +8,7 @@ import {
   RealObject,
   Pose6DOF,
   rectangularFootprintFrames,
+  topApproachFrame,
   getWorldPose,
   sceneComponent
 } from '@hatiolab/things-scene'
@@ -41,6 +42,15 @@ export interface PalletState extends State {
   // ── 외관 ──
   material?: PalletMaterial
 
+  /**
+   * Fork pocket 의 깊이 (mm) — pallet 외부 bottom (skid bottom) 부터 deck bottom
+   * 까지의 수직 거리. fork blade 가 이 *pocket 안* 으로 수평 진입. 표준 EUR
+   * pallet (144mm depth) 의 pocket ≈ 50~60mm.
+   *
+   * 미명시 시 default = depth 의 40% (= ~60mm for 150mm pallet).
+   */
+  pocketDepth?: number
+
   // ── 3D 재질 ──
   material3d?: Material3D
 }
@@ -66,6 +76,12 @@ const NATURE: ComponentNature = {
           { display: 'Plastic', value: 'plastic' }
         ]
       }
+    },
+    {
+      type: 'number',
+      label: 'pocket-depth',
+      name: 'pocketDepth',
+      placeholder: 'mm — fork 진입 pocket 깊이 (skid bottom → deck bottom). default depth × 40%.'
     }
   ],
   help: 'scene/component/pallet'
@@ -121,6 +137,24 @@ export default class Pallet extends Carriable(Legendable(Placeable(ContainerAbst
     return NATURE
   }
 
+  /**
+   * Fork pocket 의 깊이 — fork blade 가 진입하는 *pallet 외부 bottom 부터 deck
+   * bottom* 까지의 수직 거리. crane.attachPointFor 가 이 값을 차감해서
+   * carrier 외부 bottom (skid) 이 fork blade bottom *아래로 pocketDepth 만큼*
+   * 깊이 정렬 (= fork 가 pallet 의 *deck 와 skid 사이* 안 으로 들어간 자세).
+   */
+  get pocketDepth(): number {
+    const explicit = (this.state as any).pocketDepth
+    if (typeof explicit === 'number' && Number.isFinite(explicit) && explicit >= 0) {
+      return explicit
+    }
+    const d = this.state.depth
+    const depth = typeof d === 'number' && Number.isFinite(d) && d > 0
+      ? d
+      : ((this.constructor as any).defaultDepth ?? 150)
+    return depth * 0.4
+  }
+
   get anchors() {
     return []
   }
@@ -240,7 +274,7 @@ export default class Pallet extends Carriable(Legendable(Placeable(ContainerAbst
 
     const longerAxis = Math.max(width, height)
 
-    return rectangularFootprintFrames({
+    const forkFrames = rectangularFootprintFrames({
       carrierWorld: me,
       width,
       depth: height,
@@ -251,5 +285,20 @@ export default class Pallet extends Carriable(Legendable(Placeable(ContainerAbst
       tolerance: { positionMm: 50, angleDeg: 5 },
       priority: 0
     })
+
+    // 큰 AGV (deck size 충분) 가 pallet 을 위에 적재하는 패턴. priority 낮음
+    // — forklift fork 가 더 자연스러운 default. AGV deck size 가 pallet 보다
+    // 작으면 application 측이 carrier 의 dimensions check 필요.
+    const deckFrame = topApproachFrame({
+      carrierWorld: me,
+      topY: palletDepth,
+      approachDistance: longerAxis * 0.5 + 100,
+      toolType: 'agv-deck',
+      tolerance: { positionMm: 30, angleDeg: 4 },
+      priority: 1,
+      id: 'top-deck'
+    })
+
+    return [...forkFrames, deckFrame]
   }
 }

package/src/parcel-3d.ts

@@ -21,6 +21,26 @@ const CARDBOARD_COLOR = 0xc8a878
 const TAPE_COLOR = 0xddc899
 const LABEL_COLOR = 0xeeeeee
 
+// ── Module-level shared materials ───────────────────────────────────────────
+// Parcel 인스턴스가 수백~수천 가능. instance 별 new MeshStandardMaterial 시
+// material 개수 폭증 → GPU memory + draw call 비효율. static color 라 단일
+// instance 공유. 색 변경 시 모든 Parcel 에 자동 반영 (의도).
+const PARCEL_BODY_MATERIAL = new THREE.MeshStandardMaterial({
+  color: CARDBOARD_COLOR,
+  metalness: 0,
+  roughness: 0.9
+})
+const PARCEL_TAPE_MATERIAL = new THREE.MeshStandardMaterial({
+  color: TAPE_COLOR,
+  metalness: 0.05,
+  roughness: 0.5
+})
+const PARCEL_LABEL_MATERIAL = new THREE.MeshStandardMaterial({
+  color: LABEL_COLOR,
+  metalness: 0,
+  roughness: 0.4
+})
+
 export class Parcel3D extends RealObjectGroup {
   build() {
     super.build()
@@ -30,12 +50,7 @@ export class Parcel3D extends RealObjectGroup {
 
     // ── Main body ────────────────────────────────────────────────────
     const bodyGeo = new THREE.BoxGeometry(width, depth, height)
-    const bodyMaterial = new THREE.MeshStandardMaterial({
-      color: CARDBOARD_COLOR,
-      metalness: 0,
-      roughness: 0.9
-    })
-    const bodyMesh = new THREE.Mesh(bodyGeo, bodyMaterial)
+    const bodyMesh = new THREE.Mesh(bodyGeo, PARCEL_BODY_MATERIAL)
     bodyMesh.position.set(0, 0, 0)
     bodyMesh.castShadow = true
     bodyMesh.receiveShadow = true
@@ -48,12 +63,7 @@ export class Parcel3D extends RealObjectGroup {
     const tapeGeo = tapeAlongLong
       ? new THREE.BoxGeometry(width * 1.005, tapeT, tapeW)
       : new THREE.BoxGeometry(tapeW, tapeT, height * 1.005)
-    const tapeMaterial = new THREE.MeshStandardMaterial({
-      color: TAPE_COLOR,
-      metalness: 0.05,
-      roughness: 0.5
-    })
-    const tapeMesh = new THREE.Mesh(tapeGeo, tapeMaterial)
+    const tapeMesh = new THREE.Mesh(tapeGeo, PARCEL_TAPE_MATERIAL)
     tapeMesh.position.set(0, baseY + depth + tapeT / 2 - 0.01, 0)
     this.object3d.add(tapeMesh)
 
@@ -61,12 +71,7 @@ export class Parcel3D extends RealObjectGroup {
     const labelW = Math.min(width, height) * 0.35
     const labelH = labelW * 0.6
     const labelGeo = new THREE.BoxGeometry(labelW, depth * 0.005, labelH)
-    const labelMaterial = new THREE.MeshStandardMaterial({
-      color: LABEL_COLOR,
-      metalness: 0,
-      roughness: 0.4
-    })
-    const labelMesh = new THREE.Mesh(labelGeo, labelMaterial)
+    const labelMesh = new THREE.Mesh(labelGeo, PARCEL_LABEL_MATERIAL)
     // Position on top, off-center by ~25% of long axis
     if (tapeAlongLong) {
       labelMesh.position.set(width * 0.2, baseY + depth + depth * 0.0025, -height * 0.15)

package/src/parcel.ts

@@ -93,9 +93,10 @@ export default class Parcel extends Carriable(Placeable(RectPath(Shape))) {
   }
 
   /**
-   * Phase H — pickup contract. Parcel 은 위에서 vacuum gripper / suction cup 으로
-   * 집기 — Box 와 동일한 패턴이지만 cardboard 표면이라 더 큰 흡착 면 필요.
-   * tolerance 도 약간 완화 (cardboard 변형 가능성).
+   * Phase H — pickup contract. Parcel 의 pickup 방식:
+   *   - gripper (vacuum / suction): 위에서 흡착 — RobotArm
+   *   - agv-deck: AGV/Forklift 의 deck 위에 위에서 얹기 — 같은 top approach 지만
+   *     deck 자체가 운반체라 tolerance 더 완화
    */
   pickupFrames(): PickupFrame[] {
     const wp = getWorldPose(this)
@@ -109,11 +110,29 @@ export default class Parcel extends Carriable(Placeable(RectPath(Shape))) {
       topApproachFrame({
         carrierWorld: me,
         topY: parcelDepth,
-        approachDistance: 80,            // gripper hover 거리 (Box 보다 더 — vacuum 펼침)
+        approachDistance: 80,
         toolType: 'gripper',
-        tolerance: { positionMm: 10, angleDeg: 2 },  // cardboard 변형 감안
+        tolerance: { positionMm: 10, angleDeg: 2 },
         priority: 0,
         id: 'top-suction'
+      }),
+      topApproachFrame({
+        carrierWorld: me,
+        topY: parcelDepth,
+        approachDistance: 60,
+        toolType: 'agv-deck',
+        tolerance: { positionMm: 20, angleDeg: 5 },
+        priority: 1,
+        id: 'top-deck'
+      }),
+      topApproachFrame({
+        carrierWorld: me,
+        topY: parcelDepth,
+        approachDistance: 100,           // crane fork 가 cell 진입 hover
+        toolType: 'forklift-fork',
+        tolerance: { positionMm: 30, angleDeg: 5 },  // fork 적재 tolerance
+        priority: 2,                     // gripper/deck 다음
+        id: 'top-fork'
       })
     ]
   }