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

package/dist/crane-3d.js

@@ -30,7 +30,7 @@
  *   carriageHeight, forkExtension (±), forkLift
  */
 import * as THREE from 'three';
-import { RealObjectGroup } from '@hatiolab/things-scene';
+import { RealObject, RealObjectGroup } from '@hatiolab/things-scene';
 const MAST_COLOR = 0xff7a00; // mast — orange
 const TROLLEY_COLOR = 0x3a4048; // base / top — dark charcoal
 const CARRIAGE_COLOR = 0xffcc00; // carriage (shuttle) — yellow
@@ -40,25 +40,45 @@ const RAIL_COLOR = 0x1a1f24; // rail — dark steel
 const LAMP_OFF = 0x222222;
 export class Crane3D extends RealObjectGroup {
     _forkGroup;
-    _forkTopY = 0;
+    _carrierBaseY = 0;
     _bladeMidZ = 0;
+    /** floor rail 만 제외한 나머지 (trolley + masts + carriage + fork) 의 movable parent. */
+    _trolleyGroup;
+    /** carriage + fork 의 lift parent (carriageHeight + forkLiftRT 변경 시 Y 만 update). */
+    _carriageLiftGroup;
+    /** Fork active extension mesh — scale.z 와 position.z 로 lerp (rebuild 없이). */
+    _extLeftMesh;
+    _extRightMesh;
+    _extBaseParams;
+    /** Fork mesh 의 group-local Y center (carriage 위 + bladeH/2). _applyForkExtensionMeshes 가 ext mesh Y 결정. */
+    _forkOffsetY = 0;
+    /** liftGroup.position.y 재계산용 base parameters. */
+    _liftBaseParams;
     build() {
         super.build();
         this._forkGroup = undefined;
-        this._forkTopY = 0;
+        this._carrierBaseY = 0;
         this._bladeMidZ = 0;
+        this._trolleyGroup = undefined;
+        this._carriageLiftGroup = undefined;
+        this._extLeftMesh = undefined;
+        this._extRightMesh = undefined;
+        this._extBaseParams = undefined;
+        this._liftBaseParams = undefined;
         const { width, height, depth } = this.component.state;
         const emissiveColor = this.component.state.lampEmissive || '#222222';
         const status = this.component.state.status;
         const lampOn = status && status !== 'idle';
         // Actuators
         const D = numOr(depth, Math.max(width, height) * 4);
-        const carriageRaw = numOr(this.component.state.carriageHeight, D * 0.4);
+        const carriageRaw = numOr(this.component.state.carriageHeight, this.component._canonicalDefault?.('carriageHeight') ?? D * 0.4);
         const carriageHeight = Math.max(0, Math.min(carriageRaw, D * 0.85));
         const forkLength = numOr(this.component.state.forkLength, height * 0.6);
         const forkExtensionRaw = numOr(this.component.state.forkExtension, 0);
         const forkExtension = Math.max(-forkLength, Math.min(forkLength, forkExtensionRaw));
-        const forkLift = numOr(this.component.state.forkLift, 0);
+        // forkLiftRT — 시뮬 runtime current 들림. state.forkLift 는 *configured 진폭*
+        // (사용자 설정) 라 안 건드림. 3D carriage Y 는 runtime 값 사용.
+        const forkLift = numOr(this.component.state.forkLiftRT, 0);
         // ── Axis convention (FIXED): ─────────────────────────────────────
         //   Rail = X (state.left = 2D X = 3D X). Crane 좌우 이동.
         //   Fork = Z (2D Y = 3D Z). Fork 앞뒤 신축.
@@ -71,18 +91,24 @@ export class Crane3D extends RealObjectGroup {
         const topFrameH = S * 0.1;
         const topGuideH = S * 0.1;
         const carriageH = S * 0.12;
-        const mastW = width * 0.1; // mast X 단면 (along rail)
+        // Carriage assembly 크기 — state.carriageWidth 기반 (rail 길이 = crane.width
+        // 와 독립). 미명시 시 rail 의 10%.
+        const carriageAssemblyW = numOr(this.component.state.carriageWidth, width * 0.1);
+        const mastW = carriageAssemblyW * 0.15; // mast X 단면 (along rail)
         const mastD = height * 0.25; // mast Z 단면 (cross-rail)
-        const mastSpacing = width * 0.7; // 두 mast X 간격
+        const mastSpacing = carriageAssemblyW * 0.85; // 두 mast X 간격
         const bladeW = S * 0.1;
-        const bladeH = S * 0.05;
+        // bladeH — fork 두께. carriage 보다 얇게 (실 fork prong 의 가는 모양).
+        // carriage 와 *같은 Y center (0)* 이고 두께만 carriageH * 0.35.
+        const bladeH = carriageH * 0.35;
         const bladeL = forkLength;
         const bladeSpacing = mastSpacing * 0.45;
         const carriageW = mastSpacing - mastW * 0.2;
         const carriageZ = height * 0.55;
-        const cabW = S * 0.4;
-        const cabH = S * 0.4;
-        const cabD = S * 0.3;
+        // Cabinet — 존재감만. 작게.
+        const cabW = S * 0.18;
+        const cabH = S * 0.18;
+        const cabD = S * 0.15;
         const baseY = -D / 2;
         const mastH = Math.max(D - railH * 2 - baseH - topFrameH - topGuideH, S * 0.5);
         // ── Materials ─────────────────────────────────────────────────────
@@ -92,31 +118,46 @@ export class Crane3D extends RealObjectGroup {
         const cabinetMat = new THREE.MeshStandardMaterial({ color: CONTROLLER_COLOR, metalness: 0.2, roughness: 0.6 });
         const forkMat = new THREE.MeshStandardMaterial({ color: FORK_COLOR, metalness: 0.85, roughness: 0.3 });
         const railMat = new THREE.MeshStandardMaterial({ color: RAIL_COLOR, metalness: 0.9, roughness: 0.3 });
-        // ── Floor rail ────────────────────────────────────────────────────
+        // ── Floor rail (고정 — crane 본체 안 움직임). 폭 = crane.width (overhang 제거).
         {
-            const geo = new THREE.BoxGeometry(width * 1.1, railH, height * 0.35);
+            const railThin = railH * 0.5;
+            const geo = new THREE.BoxGeometry(width, railThin, height * 0.15);
             const mesh = new THREE.Mesh(geo, railMat);
-            mesh.position.set(0, baseY + railH / 2, 0);
+            mesh.position.set(0, baseY + railThin / 2, 0);
             mesh.receiveShadow = true;
             this.object3d.add(mesh);
         }
+        // ── Trolley group — carriage assembly (rail 위 X 만 이동) ─────────
+        // 모든 movable 부품 (base trolley, masts, carriage, fork, cabinet, lamp)
+        // 의 parent. carriagePosition 변경 시 group 의 local X 만 변경.
+        const trolleyGroup = new THREE.Group();
+        this._trolleyGroup = trolleyGroup;
+        this.object3d.add(trolleyGroup);
+        // 초기 carriagePosition 적용 — rail-local X (0 ~ width) → object3d-local X (-W/2 ~ +W/2)
+        const carriagePos = numOr(this.component.state.carriagePosition, this.component._canonicalDefault?.('carriagePosition') ?? width / 2);
+        trolleyGroup.position.x = carriagePos - width / 2;
         // ── Base trolley ──────────────────────────────────────────────────
+        // Cabinet 이 mast 바깥쪽에 자연스럽게 놓이도록 *trolley 폭을 mast + cabinet
+        // padding 까지 확장*. carriage assembly width 보다 양 옆으로 (cabW + gap) × 2.
+        const trolleyPad = cabW + S * 0.04;
+        const baseTrolleyW = carriageAssemblyW + trolleyPad * 2;
         const baseTrolleyY = baseY + railH + baseH / 2;
         {
-            const geo = new THREE.BoxGeometry(width * 0.95, baseH, height * 0.7);
+            const geo = new THREE.BoxGeometry(baseTrolleyW, baseH, height * 0.7);
             const mesh = new THREE.Mesh(geo, trolleyMat);
             mesh.position.set(0, baseTrolleyY, 0);
             mesh.castShadow = true;
             mesh.receiveShadow = true;
-            this.object3d.add(mesh);
+            trolleyGroup.add(mesh);
         }
-        // ── Control cabinet on one side of base ───────────────────────────
+        // ── Control cabinet — mast 바깥쪽 (trolley 의 *확장 padding 영역* 위) ─────
         {
             const geo = new THREE.BoxGeometry(cabW, cabH, cabD);
             const cab = new THREE.Mesh(geo, cabinetMat);
-            cab.position.set(-width * 0.4 + cabW / 2, baseTrolleyY + baseH / 2 + cabH / 2, -height * 0.25 + cabD / 2);
+            cab.position.set(-(carriageAssemblyW / 2 + cabW / 2 + S * 0.02), // mast 왼쪽 바깥
+            baseTrolleyY + baseH / 2 + cabH / 2, -height * 0.25 + cabD / 2);
             cab.castShadow = true;
-            this.object3d.add(cab);
+            trolleyGroup.add(cab);
         }
         // ── Status lamp ───────────────────────────────────────────────────
         {
@@ -131,8 +172,8 @@ export class Crane3D extends RealObjectGroup {
             });
             const geo = new THREE.CylinderGeometry(lampR, lampR * 0.8, lampH, 12);
             const lamp = new THREE.Mesh(geo, lampMat);
-            lamp.position.set(width * 0.4, baseTrolleyY + baseH / 2 + lampH / 2, 0);
-            this.object3d.add(lamp);
+            lamp.position.set(carriageAssemblyW / 2 + lampR * 1.5 + S * 0.02, baseTrolleyY + baseH / 2 + lampH / 2, 0);
+            trolleyGroup.add(lamp);
         }
         // ── Twin masts ────────────────────────────────────────────────────
         const mastY = baseTrolleyY + baseH / 2 + mastH / 2;
@@ -142,128 +183,244 @@ export class Crane3D extends RealObjectGroup {
             mesh.position.set(xOff, mastY, 0);
             mesh.castShadow = true;
             mesh.receiveShadow = true;
-            this.object3d.add(mesh);
+            trolleyGroup.add(mesh);
         }
-        // ── Carriage + Fork 어셈블리 (forkLift 시 함께 이동) ───────────────
-        // 시각 단절 방지를 위해 carriage 와 fork 를 *함께* forkLift 만큼 올림.
-        // 의미상으로는 carriageHeight 가 mast 위 carriage 위치, forkLift 가 *그 어셈블리의*
-        // 추가 미세 Y. 둘 다 적용된 위치를 carriage / fork 둘 다 공유.
-        const carriageY = baseTrolleyY + baseH / 2 + carriageHeight + forkLift + carriageH / 2;
+        // ── Carriage + Fork lift group (carriageHeight + forkLiftRT 따라 Y 이동) ─
+        // _carriageLiftGroup 안에 carriage + forkGroup. forkLiftRT / carriageHeight
+        // 변경 시 *그룹 Y 만 update* (mesh rebuild X). _forkGroup 의 child carrier 가
+        // *dispose 없이 그대로* 함께 따라 움직임.
+        const stubL = Math.min(carriageZ * 0.2, Math.max(bladeL * 0.05, 6));
+        const liftGroup = new THREE.Group();
+        this._carriageLiftGroup = liftGroup;
+        this._liftBaseParams = { baseTrolleyY, baseH, carriageH, bladeH };
+        liftGroup.position.set(0, this._computeLiftGroupY(carriageHeight, forkLift), 0);
+        trolleyGroup.add(liftGroup);
+        // Carriage — liftGroup local center
         {
             const geo = new THREE.BoxGeometry(carriageW, carriageH, carriageZ);
             const mesh = new THREE.Mesh(geo, carriageMat);
-            mesh.position.set(0, carriageY, 0);
+            mesh.position.set(0, 0, 0);
             mesh.castShadow = true;
             mesh.receiveShadow = true;
-            this.object3d.add(mesh);
+            liftGroup.add(mesh);
         }
-        // ── Two-prong forks (양옆 stub + active 신축, 2D 와 동일 모델) ─────
-        //   ext=0: 양 ±Z 면에 작은 stub. carriage 안에 들어있는 인상 (튀어나옴 없음)
-        //   ext=±forkLen: active 쪽 stub + |ext| 길이로 신장. 반대쪽 stub 유지.
-        //   회전 flip 없음 → ext 가 0 을 지날 때 시각 점프 없음.
-        const forkY = carriageY; // carriage 중심 Y (embed)
-        const stubL = Math.min(carriageZ * 0.2, Math.max(bladeL * 0.05, 6));
+        // ── Two-prong forks ───────────────────────────────────────────────
+        // stub (4 box, fixed) + active extension (2 box, scale.z 로 lerp).
+        // active mesh 는 *unit-length* 로 생성. _applyForkExtension 이 scale.z 와
+        // position.z 로 길이/방향 update — rebuild 없이 매 frame 부드러운 변형.
         const absExt = Math.abs(forkExtension);
         const sign = forkExtension >= 0 ? 1 : -1;
         {
             const group = new THREE.Group();
-            group.position.set(0, forkY, 0);
+            // _forkGroup 은 liftGroup-local center (0,0,0) — frame 일치 단순화.
+            // attach localPosition (carrier 자식) 도 *group-local = liftGroup-local* 동일 frame.
+            // Fork mesh 자체가 group-local 안에서 carriage *위* 로 (mesh.position.y).
+            group.position.set(0, 0, 0);
+            // Fork mesh 가 carriage 와 *수평 (같은 Y 평면)* — carriage 안에 embed.
+            // fork mesh group-local Y center = 0 (carriage center 와 같음).
+            // fork blade *bottom* 면 group-local Y = -bladeH/2.
+            // fork blade *top*    면 group-local Y = +bladeH/2.
+            const forkOffsetY = 0;
             // 양옆 stub — 두 prong × 두 측면 = 4 box
             const stubGeo = new THREE.BoxGeometry(bladeW, bladeH, stubL);
             for (const xOff of [-bladeSpacing / 2, +bladeSpacing / 2]) {
                 for (const zSide of [-1, +1]) {
                     const mesh = new THREE.Mesh(stubGeo, forkMat);
-                    mesh.position.set(xOff, 0, zSide * (carriageZ / 2 + stubL / 2));
+                    mesh.position.set(xOff, forkOffsetY, zSide * (carriageZ / 2 + stubL / 2));
                     mesh.castShadow = true;
                     mesh.receiveShadow = true;
                     group.add(mesh);
                 }
             }
-            // Active side 신장
-            if (absExt > 0.5) {
-                const extGeo = new THREE.BoxGeometry(bladeW, bladeH, absExt);
-                for (const xOff of [-bladeSpacing / 2, +bladeSpacing / 2]) {
-                    const mesh = new THREE.Mesh(extGeo, forkMat);
-                    mesh.position.set(xOff, 0, sign * (carriageZ / 2 + stubL + absExt / 2));
-                    mesh.castShadow = true;
-                    mesh.receiveShadow = true;
-                    group.add(mesh);
-                }
-            }
-            // Pallet — 정지 시 carriage 중심 Z, 신축 시 fork 중간으로 이동.
-            const loaded = forkLift > 0 || !!this.component.state.loaded || !!this.component.state.carrying;
-            if (loaded) {
-                const palletMat = new THREE.MeshStandardMaterial({
-                    color: 0xa08864, metalness: 0.1, roughness: 0.85
-                });
-                const palletW = bladeSpacing * 1.2;
-                const palletH = Math.max(bladeH * 2.5, carriageH * 0.5);
-                const palletL = Math.max(bladeL * 0.3, carriageZ * 0.6);
-                const geo = new THREE.BoxGeometry(palletW, palletH, palletL);
-                const pallet = new THREE.Mesh(geo, palletMat);
-                const palletZ = absExt < 0.5 ? 0 : sign * (carriageZ / 2 + absExt / 2);
-                pallet.position.set(0, carriageH / 2 + palletH / 2, palletZ);
-                pallet.castShadow = true;
-                pallet.receiveShadow = true;
-                group.add(pallet);
-            }
-            this.object3d.add(group);
+            // Active extension — unit length, scale.z + position.z 로 변형
+            const extGeo = new THREE.BoxGeometry(bladeW, bladeH, 1);
+            const extLeft = new THREE.Mesh(extGeo, forkMat);
+            const extRight = new THREE.Mesh(extGeo, forkMat);
+            this._forkOffsetY = forkOffsetY;
+            extLeft.castShadow = true;
+            extLeft.receiveShadow = true;
+            extRight.castShadow = true;
+            extRight.receiveShadow = true;
+            group.add(extLeft);
+            group.add(extRight);
+            this._extLeftMesh = extLeft;
+            this._extRightMesh = extRight;
+            this._extBaseParams = { bladeSpacing, carriageZ, stubL };
+            this._applyForkExtensionMeshes(absExt, sign);
+            // carrier 의 초기 Z = sign * absExt (= _applyForkExtensionMeshes 의 공식 동일).
+            const carrierZ = sign * absExt;
+            liftGroup.add(group);
             this._forkGroup = group;
-            this._forkTopY = carriageH / 2;
-            this._bladeMidZ = absExt < 0.5 ? 0 : sign * (carriageZ / 2 + absExt / 2);
+            // Carrier 외부 bottom 정렬점 (liftGroup-local Y) = fork blade *bottom* =
+            // -bladeH/2 (fork mesh group-local center = 0, 두께 bladeH).
+            // 사용자 모델: "fork 의 아랫면 ≈ carrier 의 아랫면" — fork blade 가 carrier
+            // 의 bottom 부분 안으로 *찔러 들어감* (겹친 자세).
+            this._carrierBaseY = -bladeH / 2;
+            this._bladeMidZ = carrierZ;
         }
-        // ── Top frame (connects mast tops) ────────────────────────────────
+        // ── Top frame (connects mast tops) — trolley 함께 이동 ─────────────
         const topFrameY = mastY + mastH / 2 + topFrameH / 2;
         {
             const geo = new THREE.BoxGeometry(mastSpacing + mastW, topFrameH, height * 0.35);
             const mesh = new THREE.Mesh(geo, trolleyMat);
             mesh.position.set(0, topFrameY, 0);
             mesh.castShadow = true;
-            this.object3d.add(mesh);
+            trolleyGroup.add(mesh);
         }
-        // ── Top guide trolley ─────────────────────────────────────────────
+        // ── Top guide trolley — trolley 함께 이동 (ceiling rail 위 미끄러짐) ─
         const topGuideY = topFrameY + topFrameH / 2 + topGuideH / 2;
         {
             const geo = new THREE.BoxGeometry(mastSpacing + mastW * 2, topGuideH, height * 0.3);
             const mesh = new THREE.Mesh(geo, trolleyMat);
             mesh.position.set(0, topGuideY, 0);
             mesh.castShadow = true;
-            this.object3d.add(mesh);
-        }
-        // ── Ceiling rail ──────────────────────────────────────────────────
-        {
-            const geo = new THREE.BoxGeometry(width * 1.1, railH, height * 0.3);
-            const mesh = new THREE.Mesh(geo, railMat);
-            mesh.position.set(0, topGuideY + topGuideH / 2 + railH / 2, 0);
-            this.object3d.add(mesh);
+            trolleyGroup.add(mesh);
         }
+        // Ceiling rail 생략 — 상단은 top guide trolley 만으로 충분. 사용자 의도.
     }
     getCarriageFrame() {
-        return this._forkGroup ?? this.object3d;
+        // Fallback chain — carrier 가 *carriage transform (X 이동, Y lift)* 따라오도록.
+        // _forkGroup 미존재 시 _carriageLiftGroup (X+Y 따라옴) → _trolleyGroup (X 만) →
+        // root (no follow). 절대 root 로 떨어지지 않도록 lift/trolley 우선.
+        return this._forkGroup ?? this._carriageLiftGroup ?? this._trolleyGroup ?? this.object3d;
     }
-    get platformTopY() {
-        return this._forkTopY;
+    /**
+     * Fork blade *bottom* 의 liftGroup-local Y. *carrier 외부 bottom 정렬점*.
+     *
+     * 모델: carrier 의 외부 bottom 과 fork blade 의 bottom 이 *거의 일치*. fork 가
+     * carrier 의 bottom 부분을 *찔러 들어가* carrier 와 *겹친 자세* (pallet pocket
+     * 안 fork 진입). attachPointFor 가 `carrierBaseY + carrier.depth/2` 로 carrier
+     * center 를 정렬 → carrier bottom = fork blade bottom.
+     */
+    get carrierBaseY() {
+        return this._carrierBaseY;
     }
     get bladeMidZ() {
         return this._bladeMidZ;
     }
     updateDimension() { }
     onchange(after, before) {
-        if ('width' in after ||
+        // carriagePosition — trolleyGroup.position.x (mesh-level update).
+        if ('carriagePosition' in after && this._trolleyGroup) {
+            const W = numOr(this.component.state.width, 100);
+            const pos = numOr(after.carriagePosition, W / 2);
+            this._trolleyGroup.position.x = pos - W / 2;
+        }
+        // Mesh-level updates — fork extension / lift / carriage height. *rebuild 없이*
+        // mesh 의 scale / position 만 변경. _forkGroup 의 child carrier 가 dispose
+        // 없이 그대로 따라 움직임 (fork 작업 시 시각 자연스러움).
+        //
+        // status / bodyColor / lampEmissive 는 *cosmetic* — full rebuild 회피. 별도
+        // 처리 없음 시 status 변경 시 carrier dispose → 사라짐 결함의 원인. 향후
+        // material color 만 update 하는 path 추가 가능.
+        const needsFullRebuild = 'width' in after ||
             'height' in after ||
             'depth' in after ||
-            'carriageHeight' in after ||
             'forkLength' in after ||
-            'forkExtension' in after ||
-            'forkLift' in after ||
-            'status' in after ||
-            'bodyColor' in after ||
-            'lampEmissive' in after) {
+            'carriageWidth' in after;
+        if (!needsFullRebuild) {
+            let meshUpdated = false;
+            if (('carriageHeight' in after || 'forkLiftRT' in after) && this._carriageLiftGroup) {
+                const state = this.component.state;
+                const D = numOr(state.depth, Math.max(numOr(state.width, 100), numOr(state.height, 100)) * 4);
+                const carriageRaw = numOr(state.carriageHeight, D * 0.4);
+                const carriageHeight = Math.max(0, Math.min(carriageRaw, D * 0.85));
+                const forkLift = numOr(state.forkLiftRT, 0);
+                this._carriageLiftGroup.position.y = this._computeLiftGroupY(carriageHeight, forkLift);
+                meshUpdated = true;
+            }
+            if ('forkExtension' in after && this._extLeftMesh && this._extRightMesh) {
+                const state = this.component.state;
+                const forkLength = numOr(state.forkLength, numOr(state.height, 100) * 0.6);
+                const forkExtensionRaw = numOr(state.forkExtension, 0);
+                const forkExtension = Math.max(-forkLength, Math.min(forkLength, forkExtensionRaw));
+                const absExt = Math.abs(forkExtension);
+                const sign = forkExtension >= 0 ? 1 : -1;
+                this._applyForkExtensionMeshes(absExt, sign);
+                meshUpdated = true;
+            }
+            if (meshUpdated)
+                return;
+        }
+        if (needsFullRebuild) {
             this.update();
             return;
         }
         super.onchange(after, before);
     }
+    /** carriageHeight + forkLiftRT 를 liftGroup.position.y 로 변환. */
+    _computeLiftGroupY(carriageHeight, forkLift) {
+        const p = this._liftBaseParams;
+        if (!p)
+            return 0;
+        return p.baseTrolleyY + p.baseH / 2 + carriageHeight + forkLift + p.carriageH / 2;
+    }
+    /**
+     * Carrier 외부 bottom 의 world Y → carriageHeight state 값 inverse-solve.
+     *
+     * Forward 공식 (build):
+     *   liftGroup.y crane-local = baseTrolleyY + baseH/2 + carriageHeight + forkLift + carriageH/2
+     *   carrier 외부 bottom crane-local = liftGroup.y + carrierBaseY (= -bladeH/2)
+     *                                   = baseTrolleyY + baseH/2 + carriageH/2 - bladeH/2 + carriageHeight + forkLift
+     *
+     * Inverse:
+     *   carriageHeight = worldY − craneCenterY − (baseTrolleyY + baseH/2 + carriageH/2 − bladeH/2) − forkLift
+     */
+    solveCarriageHeightForCarrierBaseWorldY(worldY, forkLift = 0) {
+        const p = this._liftBaseParams;
+        if (!p)
+            return 0;
+        this.object3d.updateWorldMatrix(true, false);
+        const v = new THREE.Vector3();
+        this.object3d.matrixWorld.decompose(v, new THREE.Quaternion(), new THREE.Vector3());
+        const craneCenterWorldY = v.y;
+        return worldY - craneCenterWorldY - (p.baseTrolleyY + p.baseH / 2 + p.carriageH / 2 - p.bladeH / 2) - forkLift;
+    }
+    /**
+     * target 의 *crane-local Z* → fork extension 값 inverse-solve.
+     *
+     * Forward (_applyForkExtensionMeshes): `_bladeMidZ = sign * absExt`
+     * (carrier 가 ext 만큼 fork 따라 진출). Inverse: `ext = |localZ|, sign = sign(localZ)`.
+     *
+     * forkLength 로 clamp — localZ 가 forkLength 보다 멀면 carrier 가 fork tip 까지만.
+     */
+    solveForkExtensionForLocalZ(localZ) {
+        const sign = localZ >= 0 ? 1 : -1;
+        const state = this.component.state;
+        const forkLen = numOr(state.forkLength, numOr(state.height, 100) * 0.6);
+        const clamped = Math.max(0, Math.min(forkLen, Math.abs(localZ)));
+        return sign * clamped;
+    }
+    /** Fork active extension mesh 의 scale.z + position.z + visibility update. */
+    _applyForkExtensionMeshes(absExt, sign) {
+        if (!this._extLeftMesh || !this._extRightMesh || !this._extBaseParams)
+            return;
+        const { bladeSpacing, carriageZ, stubL } = this._extBaseParams;
+        const visible = absExt > 0.5;
+        const len = Math.max(0.001, absExt);
+        const posZ = sign * (carriageZ / 2 + stubL + absExt / 2);
+        this._extLeftMesh.scale.z = len;
+        this._extRightMesh.scale.z = len;
+        this._extLeftMesh.position.set(-bladeSpacing / 2, this._forkOffsetY, posZ);
+        this._extRightMesh.position.set(+bladeSpacing / 2, this._forkOffsetY, posZ);
+        this._extLeftMesh.visible = visible;
+        this._extRightMesh.visible = visible;
+        // _bladeMidZ = carrier 의 Z 위치 = sign * absExt (= fork extension 만큼 직접).
+        //   ext=0   → 0    (carriage 정중앙 — retract 끝 자세)
+        //   ext=L   → ±L   (fork 가 L 만큼 진출한 위치 = carrier 도 그 위치)
+        // 단순 linear — solveForkExtensionForLocalZ 의 inverse 도 단순 (ext = |localZ|).
+        this._bladeMidZ = sign * absExt;
+        // _forkGroup 의 child carrier 의 Z 도 동기 — fork tip 위치 따라 carrier 가
+        // 함께 끌려와야 retract 시각 자연.
+        if (this._forkGroup) {
+            for (const child of this._forkGroup.children) {
+                const ctx = child.userData?.context;
+                if (ctx && ctx !== this && ctx instanceof RealObject) {
+                    child.position.z = this._bladeMidZ;
+                }
+            }
+        }
+    }
     updateAlpha() { }
 }
 function numOr(v, dflt) {

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* Copyright © HatioLab Inc. All rights reserved.\n *\n * Crane 3D — heavy-duty pallet AS/RS stacker crane (twin-mast).\n *\n * Axis convention (things-scene 3D):\n *   +X = aisle 진행 방향 (Crane 좌우 이동, *옆으로 길게* 축)\n *   +Y = 수직 (Crane 키, carriage 상하 이동)\n *   +Z = aisle 폭 방향 (Rack cell 쪽 / fork 신축 방향)\n *\n * **스케일 룰**:\n *   - 모든 가로(X,Z) dimension 과 Y 두께 → 2D footprint (state.width, state.height) 비례\n *   - Mast Y 길이만 → state.depth 사용 (수직 키)\n *   - Y 두께는 절대 depth (크레인 키) 에 비례 안 함 → 키워도 뭉치 안 두꺼워짐\n *   - mm/cm/scene-unit 무관 — 사용자의 footprint 스케일에 자동 맞춤\n *\n * 부품:\n *   [Ceiling rail]\n *   [Top guide trolley] — 천장 rail 위\n *   [Top frame]         — 두 mast 상부 연결\n *   [Mast L][Mast R]    — twin yellow column (X 축으로 떨어져 있음)\n *   [Carriage]          — 두 mast 사이 가로 frame (carriageHeight 로 상하)\n *      └── [Two forks]  — carriage 에서 ±Z 신축 (forkExtension)\n *   [Base trolley]      — 바닥 motor housing (X 길게)\n *      └── [Cabinet]    — base 한쪽 red 컨트롤박스\n *      └── [Status lamp]\n *   [Floor rail]\n *\n * Actuators (state):\n *   carriageHeight, forkExtension (±), forkLift\n */\n\nimport * as THREE from 'three'\nimport { RealObjectGroup } from '@hatiolab/things-scene'\n\nconst MAST_COLOR = 0xff7a00          // mast — orange\nconst TROLLEY_COLOR = 0x3a4048       // base / top — dark charcoal\nconst CARRIAGE_COLOR = 0xffcc00      // carriage (shuttle) — yellow\nconst CONTROLLER_COLOR = 0xc63333    // cabinet — red\nconst FORK_COLOR = 0xffcc00          // fork — yellow (same as carriage)\nconst RAIL_COLOR = 0x1a1f24          // rail — dark steel\nconst LAMP_OFF = 0x222222\n\nexport class Crane3D extends RealObjectGroup {\n  private _forkGroup?: THREE.Group\n  private _forkTopY: number = 0\n  private _bladeMidZ: number = 0\n\n  build() {\n    super.build()\n\n    this._forkGroup = undefined\n    this._forkTopY = 0\n    this._bladeMidZ = 0\n\n    const { width, height, depth } = this.component.state\n    const emissiveColor = (this.component.state.lampEmissive as string) || '#222222'\n    const status = this.component.state.status\n    const lampOn = status && status !== 'idle'\n\n    // Actuators\n    const D = numOr(depth, Math.max(width, height) * 4)\n    const carriageRaw = numOr((this.component.state as any).carriageHeight, D * 0.4)\n    const carriageHeight = Math.max(0, Math.min(carriageRaw, D * 0.85))\n\n    const forkLength = numOr((this.component.state as any).forkLength, height * 0.6)\n    const forkExtensionRaw = numOr((this.component.state as any).forkExtension, 0)\n    const forkExtension = Math.max(-forkLength, Math.min(forkLength, forkExtensionRaw))\n    const forkLift = numOr((this.component.state as any).forkLift, 0)\n\n    // ── Axis convention (FIXED): ─────────────────────────────────────\n    //   Rail = X (state.left = 2D X = 3D X). Crane 좌우 이동.\n    //   Fork = Z (2D Y = 3D Z). Fork 앞뒤 신축.\n    //   사용자: \"포크는 앞뒤로, 크레인 본체는 좌우로.\"\n    //   width  = rail-direction 풋프린트 (좁음)\n    //   height = cross-aisle (fork 방향) 풋프린트 (깊음, fork 가 cell 까지 닿는 거리)\n    const S = Math.min(width, height)\n    const railH = S * 0.04\n    const baseH = S * 0.18\n    const topFrameH = S * 0.1\n    const topGuideH = S * 0.1\n    const carriageH = S * 0.12\n    const mastW = width * 0.1                       // mast X 단면 (along rail)\n    const mastD = height * 0.25                     // mast Z 단면 (cross-rail)\n    const mastSpacing = width * 0.7                 // 두 mast X 간격\n    const bladeW = S * 0.1\n    const bladeH = S * 0.05\n    const bladeL = forkLength\n    const bladeSpacing = mastSpacing * 0.45\n    const carriageW = mastSpacing - mastW * 0.2\n    const carriageZ = height * 0.55\n    const cabW = S * 0.4\n    const cabH = S * 0.4\n    const cabD = S * 0.3\n\n    const baseY = -D / 2\n    const mastH = Math.max(D - railH * 2 - baseH - topFrameH - topGuideH, S * 0.5)\n\n    // ── Materials ─────────────────────────────────────────────────────\n    const mastMat = new THREE.MeshStandardMaterial({ color: MAST_COLOR, metalness: 0.3, roughness: 0.5 })\n    const trolleyMat = new THREE.MeshStandardMaterial({ color: TROLLEY_COLOR, metalness: 0.6, roughness: 0.5 })\n    const carriageMat = new THREE.MeshStandardMaterial({ color: CARRIAGE_COLOR, metalness: 0.85, roughness: 0.35 })\n    const cabinetMat = new THREE.MeshStandardMaterial({ color: CONTROLLER_COLOR, metalness: 0.2, roughness: 0.6 })\n    const forkMat = new THREE.MeshStandardMaterial({ color: FORK_COLOR, metalness: 0.85, roughness: 0.3 })\n    const railMat = new THREE.MeshStandardMaterial({ color: RAIL_COLOR, metalness: 0.9, roughness: 0.3 })\n\n    // ── Floor rail ────────────────────────────────────────────────────\n    {\n      const geo = new THREE.BoxGeometry(width * 1.1, railH, height * 0.35)\n      const mesh = new THREE.Mesh(geo, railMat)\n      mesh.position.set(0, baseY + railH / 2, 0)\n      mesh.receiveShadow = true\n      this.object3d.add(mesh)\n    }\n\n    // ── Base trolley ──────────────────────────────────────────────────\n    const baseTrolleyY = baseY + railH + baseH / 2\n    {\n      const geo = new THREE.BoxGeometry(width * 0.95, baseH, height * 0.7)\n      const mesh = new THREE.Mesh(geo, trolleyMat)\n      mesh.position.set(0, baseTrolleyY, 0)\n      mesh.castShadow = true\n      mesh.receiveShadow = true\n      this.object3d.add(mesh)\n    }\n\n    // ── Control cabinet on one side of base ───────────────────────────\n    {\n      const geo = new THREE.BoxGeometry(cabW, cabH, cabD)\n      const cab = new THREE.Mesh(geo, cabinetMat)\n      cab.position.set(\n        -width * 0.4 + cabW / 2,\n        baseTrolleyY + baseH / 2 + cabH / 2,\n        -height * 0.25 + cabD / 2\n      )\n      cab.castShadow = true\n      this.object3d.add(cab)\n    }\n\n    // ── Status lamp ───────────────────────────────────────────────────\n    {\n      const lampR = S * 0.04\n      const lampH = S * 0.1\n      const lampMat = new THREE.MeshStandardMaterial({\n        color: lampOn ? emissiveColor : LAMP_OFF,\n        emissive: lampOn ? emissiveColor : LAMP_OFF,\n        emissiveIntensity: lampOn ? 1.5 : 0.2,\n        metalness: 0,\n        roughness: 0.3\n      })\n      const geo = new THREE.CylinderGeometry(lampR, lampR * 0.8, lampH, 12)\n      const lamp = new THREE.Mesh(geo, lampMat)\n      lamp.position.set(width * 0.4, baseTrolleyY + baseH / 2 + lampH / 2, 0)\n      this.object3d.add(lamp)\n    }\n\n    // ── Twin masts ────────────────────────────────────────────────────\n    const mastY = baseTrolleyY + baseH / 2 + mastH / 2\n    for (const xOff of [-mastSpacing / 2, +mastSpacing / 2]) {\n      const geo = new THREE.BoxGeometry(mastW, mastH, mastD)\n      const mesh = new THREE.Mesh(geo, mastMat)\n      mesh.position.set(xOff, mastY, 0)\n      mesh.castShadow = true\n      mesh.receiveShadow = true\n      this.object3d.add(mesh)\n    }\n\n    // ── Carriage + Fork 어셈블리 (forkLift 시 함께 이동) ───────────────\n    // 시각 단절 방지를 위해 carriage 와 fork 를 *함께* forkLift 만큼 올림.\n    // 의미상으로는 carriageHeight 가 mast 위 carriage 위치, forkLift 가 *그 어셈블리의*\n    // 추가 미세 Y. 둘 다 적용된 위치를 carriage / fork 둘 다 공유.\n    const carriageY = baseTrolleyY + baseH / 2 + carriageHeight + forkLift + carriageH / 2\n    {\n      const geo = new THREE.BoxGeometry(carriageW, carriageH, carriageZ)\n      const mesh = new THREE.Mesh(geo, carriageMat)\n      mesh.position.set(0, carriageY, 0)\n      mesh.castShadow = true\n      mesh.receiveShadow = true\n      this.object3d.add(mesh)\n    }\n\n    // ── Two-prong forks (양옆 stub + active 신축, 2D 와 동일 모델) ─────\n    //   ext=0: 양 ±Z 면에 작은 stub. carriage 안에 들어있는 인상 (튀어나옴 없음)\n    //   ext=±forkLen: active 쪽 stub + |ext| 길이로 신장. 반대쪽 stub 유지.\n    //   회전 flip 없음 → ext 가 0 을 지날 때 시각 점프 없음.\n    const forkY = carriageY            // carriage 중심 Y (embed)\n    const stubL = Math.min(carriageZ * 0.2, Math.max(bladeL * 0.05, 6))\n    const absExt = Math.abs(forkExtension)\n    const sign = forkExtension >= 0 ? 1 : -1\n    {\n      const group = new THREE.Group()\n      group.position.set(0, forkY, 0)\n\n      // 양옆 stub — 두 prong × 두 측면 = 4 box\n      const stubGeo = new THREE.BoxGeometry(bladeW, bladeH, stubL)\n      for (const xOff of [-bladeSpacing / 2, +bladeSpacing / 2]) {\n        for (const zSide of [-1, +1]) {\n          const mesh = new THREE.Mesh(stubGeo, forkMat)\n          mesh.position.set(xOff, 0, zSide * (carriageZ / 2 + stubL / 2))\n          mesh.castShadow = true\n          mesh.receiveShadow = true\n          group.add(mesh)\n        }\n      }\n\n      // Active side 신장\n      if (absExt > 0.5) {\n        const extGeo = new THREE.BoxGeometry(bladeW, bladeH, absExt)\n        for (const xOff of [-bladeSpacing / 2, +bladeSpacing / 2]) {\n          const mesh = new THREE.Mesh(extGeo, forkMat)\n          mesh.position.set(xOff, 0, sign * (carriageZ / 2 + stubL + absExt / 2))\n          mesh.castShadow = true\n          mesh.receiveShadow = true\n          group.add(mesh)\n        }\n      }\n\n      // Pallet — 정지 시 carriage 중심 Z, 신축 시 fork 중간으로 이동.\n      const loaded = forkLift > 0 || !!(this.component.state as any).loaded || !!(this.component.state as any).carrying\n      if (loaded) {\n        const palletMat = new THREE.MeshStandardMaterial({\n          color: 0xa08864, metalness: 0.1, roughness: 0.85\n        })\n        const palletW = bladeSpacing * 1.2\n        const palletH = Math.max(bladeH * 2.5, carriageH * 0.5)\n        const palletL = Math.max(bladeL * 0.3, carriageZ * 0.6)\n        const geo = new THREE.BoxGeometry(palletW, palletH, palletL)\n        const pallet = new THREE.Mesh(geo, palletMat)\n        const palletZ = absExt < 0.5 ? 0 : sign * (carriageZ / 2 + absExt / 2)\n        pallet.position.set(0, carriageH / 2 + palletH / 2, palletZ)\n        pallet.castShadow = true\n        pallet.receiveShadow = true\n        group.add(pallet)\n      }\n\n      this.object3d.add(group)\n      this._forkGroup = group\n      this._forkTopY = carriageH / 2\n      this._bladeMidZ = absExt < 0.5 ? 0 : sign * (carriageZ / 2 + absExt / 2)\n    }\n\n    // ── Top frame (connects mast tops) ────────────────────────────────\n    const topFrameY = mastY + mastH / 2 + topFrameH / 2\n    {\n      const geo = new THREE.BoxGeometry(mastSpacing + mastW, topFrameH, height * 0.35)\n      const mesh = new THREE.Mesh(geo, trolleyMat)\n      mesh.position.set(0, topFrameY, 0)\n      mesh.castShadow = true\n      this.object3d.add(mesh)\n    }\n\n    // ── Top guide trolley ─────────────────────────────────────────────\n    const topGuideY = topFrameY + topFrameH / 2 + topGuideH / 2\n    {\n      const geo = new THREE.BoxGeometry(mastSpacing + mastW * 2, topGuideH, height * 0.3)\n      const mesh = new THREE.Mesh(geo, trolleyMat)\n      mesh.position.set(0, topGuideY, 0)\n      mesh.castShadow = true\n      this.object3d.add(mesh)\n    }\n\n    // ── Ceiling rail ──────────────────────────────────────────────────\n    {\n      const geo = new THREE.BoxGeometry(width * 1.1, railH, height * 0.3)\n      const mesh = new THREE.Mesh(geo, railMat)\n      mesh.position.set(0, topGuideY + topGuideH / 2 + railH / 2, 0)\n      this.object3d.add(mesh)\n    }\n  }\n\n  getCarriageFrame(): THREE.Object3D | undefined {\n    return this._forkGroup ?? this.object3d\n  }\n\n  get platformTopY(): number {\n    return this._forkTopY\n  }\n\n  get bladeMidZ(): number {\n    return this._bladeMidZ\n  }\n\n  updateDimension() {}\n\n  onchange(after: Record<string, unknown>, before: Record<string, unknown>) {\n    if (\n      'width' in after ||\n      'height' in after ||\n      'depth' in after ||\n      'carriageHeight' in after ||\n      'forkLength' in after ||\n      'forkExtension' in after ||\n      'forkLift' in after ||\n      'status' in after ||\n      'bodyColor' in after ||\n      'lampEmissive' in after\n    ) {\n      this.update()\n      return\n    }\n    super.onchange(after, before)\n  }\n\n  updateAlpha() {}\n}\n\nfunction numOr(v: unknown, dflt: number): number {\n  return typeof v === 'number' && Number.isFinite(v) ? v : dflt\n}\n"]}
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* Copyright © HatioLab Inc. All rights reserved.\n *\n * Crane 3D — heavy-duty pallet AS/RS stacker crane (twin-mast).\n *\n * Axis convention (things-scene 3D):\n *   +X = aisle 진행 방향 (Crane 좌우 이동, *옆으로 길게* 축)\n *   +Y = 수직 (Crane 키, carriage 상하 이동)\n *   +Z = aisle 폭 방향 (Rack cell 쪽 / fork 신축 방향)\n *\n * **스케일 룰**:\n *   - 모든 가로(X,Z) dimension 과 Y 두께 → 2D footprint (state.width, state.height) 비례\n *   - Mast Y 길이만 → state.depth 사용 (수직 키)\n *   - Y 두께는 절대 depth (크레인 키) 에 비례 안 함 → 키워도 뭉치 안 두꺼워짐\n *   - mm/cm/scene-unit 무관 — 사용자의 footprint 스케일에 자동 맞춤\n *\n * 부품:\n *   [Ceiling rail]\n *   [Top guide trolley] — 천장 rail 위\n *   [Top frame]         — 두 mast 상부 연결\n *   [Mast L][Mast R]    — twin yellow column (X 축으로 떨어져 있음)\n *   [Carriage]          — 두 mast 사이 가로 frame (carriageHeight 로 상하)\n *      └── [Two forks]  — carriage 에서 ±Z 신축 (forkExtension)\n *   [Base trolley]      — 바닥 motor housing (X 길게)\n *      └── [Cabinet]    — base 한쪽 red 컨트롤박스\n *      └── [Status lamp]\n *   [Floor rail]\n *\n * Actuators (state):\n *   carriageHeight, forkExtension (±), forkLift\n */\n\nimport * as THREE from 'three'\nimport { RealObject, RealObjectGroup } from '@hatiolab/things-scene'\n\nconst MAST_COLOR = 0xff7a00          // mast — orange\nconst TROLLEY_COLOR = 0x3a4048       // base / top — dark charcoal\nconst CARRIAGE_COLOR = 0xffcc00      // carriage (shuttle) — yellow\nconst CONTROLLER_COLOR = 0xc63333    // cabinet — red\nconst FORK_COLOR = 0xffcc00          // fork — yellow (same as carriage)\nconst RAIL_COLOR = 0x1a1f24          // rail — dark steel\nconst LAMP_OFF = 0x222222\n\nexport class Crane3D extends RealObjectGroup {\n  private _forkGroup?: THREE.Group\n  private _carrierBaseY: number = 0\n  private _bladeMidZ: number = 0\n  /** floor rail 만 제외한 나머지 (trolley + masts + carriage + fork) 의 movable parent. */\n  private _trolleyGroup?: THREE.Group\n  /** carriage + fork 의 lift parent (carriageHeight + forkLiftRT 변경 시 Y 만 update). */\n  private _carriageLiftGroup?: THREE.Group\n  /** Fork active extension mesh — scale.z 와 position.z 로 lerp (rebuild 없이). */\n  private _extLeftMesh?: THREE.Mesh\n  private _extRightMesh?: THREE.Mesh\n  private _extBaseParams?: { bladeSpacing: number; carriageZ: number; stubL: number }\n  /** Fork mesh 의 group-local Y center (carriage 위 + bladeH/2). _applyForkExtensionMeshes 가 ext mesh Y 결정. */\n  private _forkOffsetY: number = 0\n  /** liftGroup.position.y 재계산용 base parameters. */\n  private _liftBaseParams?: { baseTrolleyY: number; baseH: number; carriageH: number; bladeH: number }\n\n  build() {\n    super.build()\n\n    this._forkGroup = undefined\n    this._carrierBaseY = 0\n    this._bladeMidZ = 0\n    this._trolleyGroup = undefined\n    this._carriageLiftGroup = undefined\n    this._extLeftMesh = undefined\n    this._extRightMesh = undefined\n    this._extBaseParams = undefined\n    this._liftBaseParams = undefined\n\n    const { width, height, depth } = this.component.state\n    const emissiveColor = (this.component.state.lampEmissive as string) || '#222222'\n    const status = this.component.state.status\n    const lampOn = status && status !== 'idle'\n\n    // Actuators\n    const D = numOr(depth, Math.max(width, height) * 4)\n    const carriageRaw = numOr((this.component.state as any).carriageHeight, (this.component as any)._canonicalDefault?.('carriageHeight') ?? D * 0.4)\n    const carriageHeight = Math.max(0, Math.min(carriageRaw, D * 0.85))\n\n    const forkLength = numOr((this.component.state as any).forkLength, height * 0.6)\n    const forkExtensionRaw = numOr((this.component.state as any).forkExtension, 0)\n    const forkExtension = Math.max(-forkLength, Math.min(forkLength, forkExtensionRaw))\n    // forkLiftRT — 시뮬 runtime current 들림. state.forkLift 는 *configured 진폭*\n    // (사용자 설정) 라 안 건드림. 3D carriage Y 는 runtime 값 사용.\n    const forkLift = numOr((this.component.state as any).forkLiftRT, 0)\n\n    // ── Axis convention (FIXED): ─────────────────────────────────────\n    //   Rail = X (state.left = 2D X = 3D X). Crane 좌우 이동.\n    //   Fork = Z (2D Y = 3D Z). Fork 앞뒤 신축.\n    //   사용자: \"포크는 앞뒤로, 크레인 본체는 좌우로.\"\n    //   width  = rail-direction 풋프린트 (좁음)\n    //   height = cross-aisle (fork 방향) 풋프린트 (깊음, fork 가 cell 까지 닿는 거리)\n    const S = Math.min(width, height)\n    const railH = S * 0.04\n    const baseH = S * 0.18\n    const topFrameH = S * 0.1\n    const topGuideH = S * 0.1\n    const carriageH = S * 0.12\n    // Carriage assembly 크기 — state.carriageWidth 기반 (rail 길이 = crane.width\n    // 와 독립). 미명시 시 rail 의 10%.\n    const carriageAssemblyW = numOr((this.component.state as any).carriageWidth, width * 0.1)\n    const mastW = carriageAssemblyW * 0.15           // mast X 단면 (along rail)\n    const mastD = height * 0.25                      // mast Z 단면 (cross-rail)\n    const mastSpacing = carriageAssemblyW * 0.85     // 두 mast X 간격\n    const bladeW = S * 0.1\n    // bladeH — fork 두께. carriage 보다 얇게 (실 fork prong 의 가는 모양).\n    // carriage 와 *같은 Y center (0)* 이고 두께만 carriageH * 0.35.\n    const bladeH = carriageH * 0.35\n    const bladeL = forkLength\n    const bladeSpacing = mastSpacing * 0.45\n    const carriageW = mastSpacing - mastW * 0.2\n    const carriageZ = height * 0.55\n    // Cabinet — 존재감만. 작게.\n    const cabW = S * 0.18\n    const cabH = S * 0.18\n    const cabD = S * 0.15\n\n    const baseY = -D / 2\n    const mastH = Math.max(D - railH * 2 - baseH - topFrameH - topGuideH, S * 0.5)\n\n    // ── Materials ─────────────────────────────────────────────────────\n    const mastMat = new THREE.MeshStandardMaterial({ color: MAST_COLOR, metalness: 0.3, roughness: 0.5 })\n    const trolleyMat = new THREE.MeshStandardMaterial({ color: TROLLEY_COLOR, metalness: 0.6, roughness: 0.5 })\n    const carriageMat = new THREE.MeshStandardMaterial({ color: CARRIAGE_COLOR, metalness: 0.85, roughness: 0.35 })\n    const cabinetMat = new THREE.MeshStandardMaterial({ color: CONTROLLER_COLOR, metalness: 0.2, roughness: 0.6 })\n    const forkMat = new THREE.MeshStandardMaterial({ color: FORK_COLOR, metalness: 0.85, roughness: 0.3 })\n    const railMat = new THREE.MeshStandardMaterial({ color: RAIL_COLOR, metalness: 0.9, roughness: 0.3 })\n\n    // ── Floor rail (고정 — crane 본체 안 움직임). 폭 = crane.width (overhang 제거).\n    {\n      const railThin = railH * 0.5\n      const geo = new THREE.BoxGeometry(width, railThin, height * 0.15)\n      const mesh = new THREE.Mesh(geo, railMat)\n      mesh.position.set(0, baseY + railThin / 2, 0)\n      mesh.receiveShadow = true\n      this.object3d.add(mesh)\n    }\n\n    // ── Trolley group — carriage assembly (rail 위 X 만 이동) ─────────\n    // 모든 movable 부품 (base trolley, masts, carriage, fork, cabinet, lamp)\n    // 의 parent. carriagePosition 변경 시 group 의 local X 만 변경.\n    const trolleyGroup = new THREE.Group()\n    this._trolleyGroup = trolleyGroup\n    this.object3d.add(trolleyGroup)\n    // 초기 carriagePosition 적용 — rail-local X (0 ~ width) → object3d-local X (-W/2 ~ +W/2)\n    const carriagePos = numOr((this.component.state as any).carriagePosition, (this.component as any)._canonicalDefault?.('carriagePosition') ?? width / 2)\n    trolleyGroup.position.x = carriagePos - width / 2\n\n    // ── Base trolley ──────────────────────────────────────────────────\n    // Cabinet 이 mast 바깥쪽에 자연스럽게 놓이도록 *trolley 폭을 mast + cabinet\n    // padding 까지 확장*. carriage assembly width 보다 양 옆으로 (cabW + gap) × 2.\n    const trolleyPad = cabW + S * 0.04\n    const baseTrolleyW = carriageAssemblyW + trolleyPad * 2\n    const baseTrolleyY = baseY + railH + baseH / 2\n    {\n      const geo = new THREE.BoxGeometry(baseTrolleyW, baseH, height * 0.7)\n      const mesh = new THREE.Mesh(geo, trolleyMat)\n      mesh.position.set(0, baseTrolleyY, 0)\n      mesh.castShadow = true\n      mesh.receiveShadow = true\n      trolleyGroup.add(mesh)\n    }\n\n    // ── Control cabinet — mast 바깥쪽 (trolley 의 *확장 padding 영역* 위) ─────\n    {\n      const geo = new THREE.BoxGeometry(cabW, cabH, cabD)\n      const cab = new THREE.Mesh(geo, cabinetMat)\n      cab.position.set(\n        -(carriageAssemblyW / 2 + cabW / 2 + S * 0.02),   // mast 왼쪽 바깥\n        baseTrolleyY + baseH / 2 + cabH / 2,\n        -height * 0.25 + cabD / 2\n      )\n      cab.castShadow = true\n      trolleyGroup.add(cab)\n    }\n\n    // ── Status lamp ───────────────────────────────────────────────────\n    {\n      const lampR = S * 0.04\n      const lampH = S * 0.1\n      const lampMat = new THREE.MeshStandardMaterial({\n        color: lampOn ? emissiveColor : LAMP_OFF,\n        emissive: lampOn ? emissiveColor : LAMP_OFF,\n        emissiveIntensity: lampOn ? 1.5 : 0.2,\n        metalness: 0,\n        roughness: 0.3\n      })\n      const geo = new THREE.CylinderGeometry(lampR, lampR * 0.8, lampH, 12)\n      const lamp = new THREE.Mesh(geo, lampMat)\n      lamp.position.set(carriageAssemblyW / 2 + lampR * 1.5 + S * 0.02, baseTrolleyY + baseH / 2 + lampH / 2, 0)\n      trolleyGroup.add(lamp)\n    }\n\n    // ── Twin masts ────────────────────────────────────────────────────\n    const mastY = baseTrolleyY + baseH / 2 + mastH / 2\n    for (const xOff of [-mastSpacing / 2, +mastSpacing / 2]) {\n      const geo = new THREE.BoxGeometry(mastW, mastH, mastD)\n      const mesh = new THREE.Mesh(geo, mastMat)\n      mesh.position.set(xOff, mastY, 0)\n      mesh.castShadow = true\n      mesh.receiveShadow = true\n      trolleyGroup.add(mesh)\n    }\n\n    // ── Carriage + Fork lift group (carriageHeight + forkLiftRT 따라 Y 이동) ─\n    // _carriageLiftGroup 안에 carriage + forkGroup. forkLiftRT / carriageHeight\n    // 변경 시 *그룹 Y 만 update* (mesh rebuild X). _forkGroup 의 child carrier 가\n    // *dispose 없이 그대로* 함께 따라 움직임.\n    const stubL = Math.min(carriageZ * 0.2, Math.max(bladeL * 0.05, 6))\n    const liftGroup = new THREE.Group()\n    this._carriageLiftGroup = liftGroup\n    this._liftBaseParams = { baseTrolleyY, baseH, carriageH, bladeH }\n    liftGroup.position.set(0, this._computeLiftGroupY(carriageHeight, forkLift), 0)\n    trolleyGroup.add(liftGroup)\n\n    // Carriage — liftGroup local center\n    {\n      const geo = new THREE.BoxGeometry(carriageW, carriageH, carriageZ)\n      const mesh = new THREE.Mesh(geo, carriageMat)\n      mesh.position.set(0, 0, 0)\n      mesh.castShadow = true\n      mesh.receiveShadow = true\n      liftGroup.add(mesh)\n    }\n\n    // ── Two-prong forks ───────────────────────────────────────────────\n    // stub (4 box, fixed) + active extension (2 box, scale.z 로 lerp).\n    // active mesh 는 *unit-length* 로 생성. _applyForkExtension 이 scale.z 와\n    // position.z 로 길이/방향 update — rebuild 없이 매 frame 부드러운 변형.\n    const absExt = Math.abs(forkExtension)\n    const sign = forkExtension >= 0 ? 1 : -1\n    {\n      const group = new THREE.Group()\n      // _forkGroup 은 liftGroup-local center (0,0,0) — frame 일치 단순화.\n      // attach localPosition (carrier 자식) 도 *group-local = liftGroup-local* 동일 frame.\n      // Fork mesh 자체가 group-local 안에서 carriage *위* 로 (mesh.position.y).\n      group.position.set(0, 0, 0)\n\n      // Fork mesh 가 carriage 와 *수평 (같은 Y 평면)* — carriage 안에 embed.\n      // fork mesh group-local Y center = 0 (carriage center 와 같음).\n      // fork blade *bottom* 면 group-local Y = -bladeH/2.\n      // fork blade *top*    면 group-local Y = +bladeH/2.\n      const forkOffsetY = 0\n\n      // 양옆 stub — 두 prong × 두 측면 = 4 box\n      const stubGeo = new THREE.BoxGeometry(bladeW, bladeH, stubL)\n      for (const xOff of [-bladeSpacing / 2, +bladeSpacing / 2]) {\n        for (const zSide of [-1, +1]) {\n          const mesh = new THREE.Mesh(stubGeo, forkMat)\n          mesh.position.set(xOff, forkOffsetY, zSide * (carriageZ / 2 + stubL / 2))\n          mesh.castShadow = true\n          mesh.receiveShadow = true\n          group.add(mesh)\n        }\n      }\n\n      // Active extension — unit length, scale.z + position.z 로 변형\n      const extGeo = new THREE.BoxGeometry(bladeW, bladeH, 1)\n      const extLeft = new THREE.Mesh(extGeo, forkMat)\n      const extRight = new THREE.Mesh(extGeo, forkMat)\n      this._forkOffsetY = forkOffsetY\n      extLeft.castShadow = true\n      extLeft.receiveShadow = true\n      extRight.castShadow = true\n      extRight.receiveShadow = true\n      group.add(extLeft)\n      group.add(extRight)\n      this._extLeftMesh = extLeft\n      this._extRightMesh = extRight\n      this._extBaseParams = { bladeSpacing, carriageZ, stubL }\n      this._applyForkExtensionMeshes(absExt, sign)\n\n      // carrier 의 초기 Z = sign * absExt (= _applyForkExtensionMeshes 의 공식 동일).\n      const carrierZ = sign * absExt\n\n      liftGroup.add(group)\n      this._forkGroup = group\n      // Carrier 외부 bottom 정렬점 (liftGroup-local Y) = fork blade *bottom* =\n      // -bladeH/2 (fork mesh group-local center = 0, 두께 bladeH).\n      // 사용자 모델: \"fork 의 아랫면 ≈ carrier 의 아랫면\" — fork blade 가 carrier\n      // 의 bottom 부분 안으로 *찔러 들어감* (겹친 자세).\n      this._carrierBaseY = -bladeH / 2\n      this._bladeMidZ = carrierZ\n    }\n\n    // ── Top frame (connects mast tops) — trolley 함께 이동 ─────────────\n    const topFrameY = mastY + mastH / 2 + topFrameH / 2\n    {\n      const geo = new THREE.BoxGeometry(mastSpacing + mastW, topFrameH, height * 0.35)\n      const mesh = new THREE.Mesh(geo, trolleyMat)\n      mesh.position.set(0, topFrameY, 0)\n      mesh.castShadow = true\n      trolleyGroup.add(mesh)\n    }\n\n    // ── Top guide trolley — trolley 함께 이동 (ceiling rail 위 미끄러짐) ─\n    const topGuideY = topFrameY + topFrameH / 2 + topGuideH / 2\n    {\n      const geo = new THREE.BoxGeometry(mastSpacing + mastW * 2, topGuideH, height * 0.3)\n      const mesh = new THREE.Mesh(geo, trolleyMat)\n      mesh.position.set(0, topGuideY, 0)\n      mesh.castShadow = true\n      trolleyGroup.add(mesh)\n    }\n\n    // Ceiling rail 생략 — 상단은 top guide trolley 만으로 충분. 사용자 의도.\n\n  }\n\n  getCarriageFrame(): THREE.Object3D | undefined {\n    // Fallback chain — carrier 가 *carriage transform (X 이동, Y lift)* 따라오도록.\n    // _forkGroup 미존재 시 _carriageLiftGroup (X+Y 따라옴) → _trolleyGroup (X 만) →\n    // root (no follow). 절대 root 로 떨어지지 않도록 lift/trolley 우선.\n    return this._forkGroup ?? this._carriageLiftGroup ?? this._trolleyGroup ?? this.object3d\n  }\n\n  /**\n   * Fork blade *bottom* 의 liftGroup-local Y. *carrier 외부 bottom 정렬점*.\n   *\n   * 모델: carrier 의 외부 bottom 과 fork blade 의 bottom 이 *거의 일치*. fork 가\n   * carrier 의 bottom 부분을 *찔러 들어가* carrier 와 *겹친 자세* (pallet pocket\n   * 안 fork 진입). attachPointFor 가 `carrierBaseY + carrier.depth/2` 로 carrier\n   * center 를 정렬 → carrier bottom = fork blade bottom.\n   */\n  get carrierBaseY(): number {\n    return this._carrierBaseY\n  }\n\n  get bladeMidZ(): number {\n    return this._bladeMidZ\n  }\n\n  updateDimension() {}\n\n  onchange(after: Record<string, unknown>, before: Record<string, unknown>) {\n    // carriagePosition — trolleyGroup.position.x (mesh-level update).\n    if ('carriagePosition' in after && this._trolleyGroup) {\n      const W = numOr(this.component.state.width, 100)\n      const pos = numOr(after.carriagePosition, W / 2)\n      this._trolleyGroup.position.x = pos - W / 2\n    }\n\n    // Mesh-level updates — fork extension / lift / carriage height. *rebuild 없이*\n    // mesh 의 scale / position 만 변경. _forkGroup 의 child carrier 가 dispose\n    // 없이 그대로 따라 움직임 (fork 작업 시 시각 자연스러움).\n    //\n    // status / bodyColor / lampEmissive 는 *cosmetic* — full rebuild 회피. 별도\n    // 처리 없음 시 status 변경 시 carrier dispose → 사라짐 결함의 원인. 향후\n    // material color 만 update 하는 path 추가 가능.\n    const needsFullRebuild =\n      'width' in after ||\n      'height' in after ||\n      'depth' in after ||\n      'forkLength' in after ||\n      'carriageWidth' in after\n\n    if (!needsFullRebuild) {\n      let meshUpdated = false\n      if (('carriageHeight' in after || 'forkLiftRT' in after) && this._carriageLiftGroup) {\n        const state = this.component.state as any\n        const D = numOr(state.depth, Math.max(numOr(state.width, 100), numOr(state.height, 100)) * 4)\n        const carriageRaw = numOr(state.carriageHeight, D * 0.4)\n        const carriageHeight = Math.max(0, Math.min(carriageRaw, D * 0.85))\n        const forkLift = numOr(state.forkLiftRT, 0)\n        this._carriageLiftGroup.position.y = this._computeLiftGroupY(carriageHeight, forkLift)\n        meshUpdated = true\n      }\n      if ('forkExtension' in after && this._extLeftMesh && this._extRightMesh) {\n        const state = this.component.state as any\n        const forkLength = numOr(state.forkLength, numOr(state.height, 100) * 0.6)\n        const forkExtensionRaw = numOr(state.forkExtension, 0)\n        const forkExtension = Math.max(-forkLength, Math.min(forkLength, forkExtensionRaw))\n        const absExt = Math.abs(forkExtension)\n        const sign = forkExtension >= 0 ? 1 : -1\n        this._applyForkExtensionMeshes(absExt, sign)\n        meshUpdated = true\n      }\n      if (meshUpdated) return\n    }\n\n    if (needsFullRebuild) {\n      this.update()\n      return\n    }\n    super.onchange(after, before)\n  }\n\n  /** carriageHeight + forkLiftRT 를 liftGroup.position.y 로 변환. */\n  private _computeLiftGroupY(carriageHeight: number, forkLift: number): number {\n    const p = this._liftBaseParams\n    if (!p) return 0\n    return p.baseTrolleyY + p.baseH / 2 + carriageHeight + forkLift + p.carriageH / 2\n  }\n\n  /**\n   * Carrier 외부 bottom 의 world Y → carriageHeight state 값 inverse-solve.\n   *\n   * Forward 공식 (build):\n   *   liftGroup.y crane-local = baseTrolleyY + baseH/2 + carriageHeight + forkLift + carriageH/2\n   *   carrier 외부 bottom crane-local = liftGroup.y + carrierBaseY (= -bladeH/2)\n   *                                   = baseTrolleyY + baseH/2 + carriageH/2 - bladeH/2 + carriageHeight + forkLift\n   *\n   * Inverse:\n   *   carriageHeight = worldY − craneCenterY − (baseTrolleyY + baseH/2 + carriageH/2 − bladeH/2) − forkLift\n   */\n  solveCarriageHeightForCarrierBaseWorldY(worldY: number, forkLift: number = 0): number {\n    const p = this._liftBaseParams\n    if (!p) return 0\n    this.object3d.updateWorldMatrix(true, false)\n    const v = new THREE.Vector3()\n    this.object3d.matrixWorld.decompose(v, new THREE.Quaternion(), new THREE.Vector3())\n    const craneCenterWorldY = v.y\n    return worldY - craneCenterWorldY - (p.baseTrolleyY + p.baseH / 2 + p.carriageH / 2 - p.bladeH / 2) - forkLift\n  }\n\n  /**\n   * target 의 *crane-local Z* → fork extension 값 inverse-solve.\n   *\n   * Forward (_applyForkExtensionMeshes): `_bladeMidZ = sign * absExt`\n   * (carrier 가 ext 만큼 fork 따라 진출). Inverse: `ext = |localZ|, sign = sign(localZ)`.\n   *\n   * forkLength 로 clamp — localZ 가 forkLength 보다 멀면 carrier 가 fork tip 까지만.\n   */\n  solveForkExtensionForLocalZ(localZ: number): number {\n    const sign = localZ >= 0 ? 1 : -1\n    const state = this.component.state as any\n    const forkLen = numOr(state.forkLength, numOr(state.height, 100) * 0.6)\n    const clamped = Math.max(0, Math.min(forkLen, Math.abs(localZ)))\n    return sign * clamped\n  }\n\n  /** Fork active extension mesh 의 scale.z + position.z + visibility update. */\n  private _applyForkExtensionMeshes(absExt: number, sign: number) {\n    if (!this._extLeftMesh || !this._extRightMesh || !this._extBaseParams) return\n    const { bladeSpacing, carriageZ, stubL } = this._extBaseParams\n    const visible = absExt > 0.5\n    const len = Math.max(0.001, absExt)\n    const posZ = sign * (carriageZ / 2 + stubL + absExt / 2)\n    this._extLeftMesh.scale.z = len\n    this._extRightMesh.scale.z = len\n    this._extLeftMesh.position.set(-bladeSpacing / 2, this._forkOffsetY, posZ)\n    this._extRightMesh.position.set(+bladeSpacing / 2, this._forkOffsetY, posZ)\n    this._extLeftMesh.visible = visible\n    this._extRightMesh.visible = visible\n\n    // _bladeMidZ = carrier 의 Z 위치 = sign * absExt (= fork extension 만큼 직접).\n    //   ext=0   → 0    (carriage 정중앙 — retract 끝 자세)\n    //   ext=L   → ±L   (fork 가 L 만큼 진출한 위치 = carrier 도 그 위치)\n    // 단순 linear — solveForkExtensionForLocalZ 의 inverse 도 단순 (ext = |localZ|).\n    this._bladeMidZ = sign * absExt\n\n    // _forkGroup 의 child carrier 의 Z 도 동기 — fork tip 위치 따라 carrier 가\n    // 함께 끌려와야 retract 시각 자연.\n    if (this._forkGroup) {\n      for (const child of this._forkGroup.children) {\n        const ctx = (child as any).userData?.context\n        if (ctx && ctx !== this && ctx instanceof RealObject) {\n          child.position.z = this._bladeMidZ\n        }\n      }\n    }\n\n  }\n\n  updateAlpha() {}\n}\n\nfunction numOr(v: unknown, dflt: number): number {\n  return typeof v === 'number' && Number.isFinite(v) ? v : dflt\n}\n"]}