嘉兴测试

src/core/manager/WorldModel.ts

@@ -122,7 +122,9 @@ export default class WorldModel {
       import('../../modules/amr/ptr/cl2'),
       import('../../modules/amr/ptr/clx'),
       import('../../modules/charger'),
-      import('../../modules/bracket')
+      import('../../modules/bracket'),
+      import('../../modules/amr/fm600'),
+      import('../../modules/amr/cc/cc5')
 
     ]).then((configRes) => {
       console.log('世界模型初始化完成')

src/core/script/ModelManager.ts

@@ -7,6 +7,7 @@ import TaskManager from '../manager/TaskManager.ts'
 import Cl2Entity from '@/modules/amr/ptr/cl2/Cl2Entity.ts'
 // import ClxEntity from '@/modules/amr/ptr/clx/ClxEntity.ts'
 import { getRenderer } from '@/core/manager/ModuleManager.ts'
+import FM600Entity from "@/modules/amr/fm600/FM600Entity";
 
 export default class ModelManager implements IControls, Model {
   private viewport: Viewport
@@ -20,6 +21,10 @@ export default class ModelManager implements IControls, Model {
     // return new ClxEntity(this.viewport, id)
   }
 
+  getFm600(id: string): Fm600If {
+    return new FM600Entity(this.viewport, id)
+  }
+
   createTask(agv: object): TaskManager {
     if (TaskManager.taskMap.has(agv)) {
       return TaskManager.taskMap.get(agv)

src/modules/amr/cc/cc5/CC53DGraphics.ts

@@ -0,0 +1,400 @@
+import * as THREE from "three";
+import {CSG} from "three-csg-ts";
+//@ts-ignore
+import { mergeGeometries } from 'three/addons/utils/BufferGeometryUtils.js'
+
+export default class CC53DGraphics {
+
+  // 创建cc5的底座
+  static createCC5Pedestal(): THREE.BufferGeometry {
+
+    const width = 1.65
+    const depth = 1.65
+    const dd = 0.05
+    const bd = 0.175
+
+    const shape = new THREE.Shape()
+    shape.moveTo(-width / 2, -depth / 2 + bd)
+    shape.lineTo(-width / 2 + bd, -depth / 2)
+    shape.lineTo(width / 2 - bd, -depth / 2)
+    shape.lineTo(width / 2, -depth / 2 + bd)
+
+    shape.lineTo(width / 2, -0.285)
+    shape.lineTo(-0.475, -0.285)
+    shape.lineTo(-0.475, -0.125)
+    shape.lineTo(width / 2, -0.125)
+    shape.lineTo(width / 2, 0.125)
+    shape.lineTo(-0.475, 0.125)
+    shape.lineTo(-0.475, 0.285)
+    shape.lineTo(width / 2, 0.285)
+
+    shape.lineTo(width / 2, depth / 2 - bd)
+    shape.lineTo(width / 2 - bd, depth / 2)
+    shape.lineTo(-width / 2 + bd, depth / 2)
+    shape.lineTo(-width / 2, depth / 2 - bd)
+    shape.closePath()  // 闭合路径
+
+    // 拉伸轨迹线
+    const curve = new THREE.CatmullRomCurve3(
+      [new THREE.Vector3(0, 0.02, 0), new THREE.Vector3(0, 0.22, 0)],
+      false,  // 闭合曲线
+      'catmullrom',
+      0
+    )
+
+    // 挤出几何图形 参数
+    const options = {
+      steps: 1,
+      bevelEnabled: false,
+      extrudePath: curve //  设置挤出轨迹
+    }
+    // 创建挤出几何体
+    const geometry = new THREE.ExtrudeGeometry(shape, options)
+    const material = new THREE.MeshBasicMaterial({color: 0xffdddbca})
+    const mesh = new THREE.Mesh(geometry, material)
+
+    mesh.updateMatrix()
+
+    // 倒角
+    const shapeD = new THREE.Shape()
+    shapeD.moveTo(-0.02, -0.02)
+    shapeD.lineTo(0.02, 0.02)
+    shapeD.lineTo(-0.02, 0.02)
+    shapeD.closePath()
+
+    const shapeDW = new THREE.Shape()
+    shapeDW.moveTo(0.02, -0.02)
+    shapeDW.lineTo(0.02, 0.02)
+    shapeDW.lineTo(-0.02, 0.02)
+    shapeDW.closePath()
+
+    const shapeDW1 = new THREE.Shape()
+    shapeDW1.moveTo(-0.02, -0.02)
+    shapeDW1.lineTo(0.02, -0.02)
+    shapeDW1.lineTo(-0.02, 0.02)
+    shapeDW1.closePath()
+
+
+    const positionDs: THREE.Vector3[] = [
+      new THREE.Vector3(-width / 2, 0.20, -depth / 2 + bd),
+      new THREE.Vector3(-width / 2 + bd, 0.20, -depth / 2),
+      new THREE.Vector3(width / 2 - bd, 0.20, -depth / 2),
+      new THREE.Vector3(width / 2, 0.20, -depth / 2 + bd),
+      new THREE.Vector3(width / 2, 0.20, depth / 2 - bd),
+      new THREE.Vector3(width / 2 - bd, 0.20, depth / 2),
+      new THREE.Vector3(-width / 2 + bd, 0.20, depth / 2),
+      new THREE.Vector3(-width / 2, 0.20, depth / 2 - bd),
+      new THREE.Vector3(-width / 2, 0.20, -depth / 2 + bd)
+    ]
+
+    let result: THREE.Mesh = mesh
+
+    for (let i = 0; i < positionDs.length - 1; i++) {
+
+      const curveD = new THREE.CatmullRomCurve3([positionDs[i], positionDs[i + 1]],
+        false,
+        'catmullrom',
+        0)
+      const optionsD = {
+        steps: 1,
+        bevelEnabled: false,
+        extrudePath: curveD
+      }
+      let geometryD: THREE.BufferGeometry = null
+      if (i == 1) {
+        geometryD = new THREE.ExtrudeGeometry(shapeDW, optionsD)
+      } else if (i == 5) {
+        geometryD = new THREE.ExtrudeGeometry(shapeDW1, optionsD)
+      } else {
+        geometryD = new THREE.ExtrudeGeometry(shapeD, optionsD)
+      }
+      const meshD = new THREE.Mesh(geometryD, material)
+      meshD.updateMatrix()
+      result = CSG.subtract(result, meshD)
+    }
+    return result.geometry
+  }
+
+  // 创建cc5的立柱
+  static createCC5Pillar(): THREE.BufferGeometry {
+    // 606.5
+    const width = 0.3
+    const depth = 1.188
+    const dd = 0.05
+    const shape = new THREE.Shape()
+    shape.moveTo(-0.744, -0.594 + dd)
+    shape.lineTo(-0.744 + dd, -0.594)
+    shape.lineTo(-0.744 + width - dd, -0.594)
+    shape.lineTo(-0.744 + width, -0.594 + dd)
+
+    shape.lineTo(-0.744 + width, -0.4)
+    shape.lineTo(-0.744 + width - 0.08, -0.4)
+    shape.lineTo(-0.744 + width - 0.08, 0.4)
+    shape.lineTo(-0.744 + width, 0.4)
+
+    shape.lineTo(-0.744 + width, -0.594 + depth - dd)
+    shape.lineTo(-0.744 + width - dd, -0.594 + depth)
+    shape.lineTo(-0.744 + dd, -0.594 + depth)
+    shape.lineTo(-0.744, -0.594 + depth - dd)
+    // shape.lineTo(-0.728, -0.594 + dd);
+    // shape.closePath()
+
+    // 拉伸轨迹线
+    const curve = new THREE.CatmullRomCurve3(
+      [new THREE.Vector3(0, 0.22, 0), new THREE.Vector3(0, 3.357, 0)],
+      false,  // 闭合曲线
+      'catmullrom',
+      0
+    )
+
+    // 挤出几何图形 参数
+    const options = {
+      steps: 1,
+      bevelSegments: 0.05,
+      bevelEnabled: true,
+      extrudePath: curve //  设置挤出轨迹
+    }
+    // 创建挤出几何体
+    // const material = new THREE.MeshBasicMaterial({color: 0xffdddbca});
+    // const mesh = new THREE.Mesh(geometry, material);
+    return new THREE.ExtrudeGeometry(shape, options)
+
+  }
+
+  // 创建cc5的叉
+  static createCC5Fork(): THREE.BufferGeometry {
+    // 606.5
+    const width = 0.3
+    const depth = 1.188
+    const dd = 0.05
+    const fdx = 0.06
+    const fdy = 0.03
+    const shape = new THREE.Shape()
+
+    shape.moveTo(-0.744 + width - 0.08, -0.4)
+    shape.lineTo(-0.744 + width + 0.02, -0.4)
+    shape.lineTo(-0.744 + width + 0.02, -0.275)
+    shape.lineTo(-0.744 + width + 0.02 + 1.24 - fdx, -0.275)
+    shape.lineTo(-0.744 + width + 0.02 + 1.24, -0.275 + fdy)
+    shape.lineTo(-0.744 + width + 0.02 + 1.24, -0.135 - fdy)
+    shape.lineTo(-0.744 + width + 0.02 + 1.24 - fdx, -0.135)
+    shape.lineTo(-0.744 + width + 0.02, -0.135)
+    shape.lineTo(-0.744 + width + 0.02, 0.135)
+    shape.lineTo(-0.744 + width + 0.02 + 1.24 - fdx, 0.135)
+    shape.lineTo(-0.744 + width + 0.02 + 1.24, 0.135 + fdy)
+    shape.lineTo(-0.744 + width + 0.02 + 1.24, 0.275 - fdy)
+    shape.lineTo(-0.744 + width + 0.02 + 1.24 - fdx, 0.275)
+    shape.lineTo(-0.744 + width + 0.02, 0.275)
+    shape.lineTo(-0.744 + width + 0.02, 0.4)
+    shape.lineTo(-0.744 + width - 0.08, 0.4)
+
+    shape.closePath()
+
+    // 拉伸轨迹线
+    const curve = new THREE.CatmullRomCurve3(
+      [new THREE.Vector3(0, 0.02, 0), new THREE.Vector3(0, 1.287, 0)],
+      false,  // 闭合曲线
+      'catmullrom',
+      0
+    )
+
+    // 挤出几何图形 参数
+    const options = {
+      steps: 1,
+      bevelSegments: 0.05,
+      bevelEnabled: true,
+      extrudePath: curve //  设置挤出轨迹
+    }
+    // 创建挤出几何体
+    const geometry = new THREE.ExtrudeGeometry(shape, options)
+    const material = new THREE.MeshBasicMaterial({color: 0xffdddbca})
+    const mesh = new THREE.Mesh(geometry, material)
+    mesh.updateMatrix()
+
+    const shapeD = new THREE.Shape()
+
+
+    shapeD.moveTo(-0.744 + width + 0.02, -0.3)
+    shapeD.lineTo(-0.744 + width + 0.02 + 1.3, -0.3)
+    shapeD.lineTo(-0.744 + width + 0.02 + 1.3, 0.3)
+    shapeD.lineTo(-0.744 + width + 0.02, 0.3)
+    shape.closePath()
+
+    // 拉伸轨迹线
+    const curveD = new THREE.CatmullRomCurve3(
+      [new THREE.Vector3(0, 0.07, 0), new THREE.Vector3(0, 1.3, 0)],
+      false,  // 闭合曲线
+      'catmullrom',
+      0
+    )
+
+    // 挤出几何图形 参数
+    const optionsD = {
+      steps: 1,
+      bevelSegments: 0.05,
+      bevelEnabled: true,
+      extrudePath: curveD //  设置挤出轨迹
+    }
+    // 创建挤出几何体
+    const geometryD = new THREE.ExtrudeGeometry(shapeD, optionsD)
+    const meshD = new THREE.Mesh(geometryD, material)
+
+    meshD.updateMatrix()
+
+    // 布尔运算
+    const result = CSG.subtract(mesh, meshD)
+
+    return result.geometry
+  }
+
+  // 创建cc5的铰链
+  static createCC5Gemel(isLeft: boolean = false) {
+    const width = 0.08
+    const depth = 0.9
+    const dd = 0.02
+    const shape = new THREE.Shape()
+    shape.moveTo(-width / 2, -depth / 2 + dd)
+    shape.lineTo(-width / 2 + dd, -depth / 2)
+    shape.lineTo(width / 2 - dd, -depth / 2)
+    shape.lineTo(width / 2, -depth / 2 + dd)
+    shape.lineTo(width / 2, depth / 2 - dd)
+    shape.lineTo(width / 2 - dd, depth / 2)
+    shape.lineTo(-width / 2 + dd, depth / 2)
+    shape.lineTo(-width / 2, depth / 2 - dd)
+    shape.closePath()
+
+    const shapeBar = new THREE.Shape()
+    shapeBar.moveTo(0, 0)  // 起点在圆心
+    shapeBar.absarc(0, 0, 0.02, 0, Math.PI * 2, false) // 从0到π绘制半圆
+    shapeBar.closePath()
+
+    const geometries: THREE.BufferGeometry[] = []
+
+    const curveL1 = new THREE.CatmullRomCurve3(
+      [new THREE.Vector3(-0.35 + (isLeft ? 0.05 : 0), 0, 0), new THREE.Vector3(-0.30 + (isLeft ? 0.05 : 0), 0, 0)],
+      false,  // 闭合曲线
+      'catmullrom',
+      0
+    )
+    const curveL2 = new THREE.CatmullRomCurve3(
+      [new THREE.Vector3(-0.15 + (isLeft ? 0.05 : 0), 0, 0), new THREE.Vector3(-0.1 + (isLeft ? 0.05 : 0), 0, 0)],
+      false,  // 闭合曲线
+      'catmullrom',
+      0
+    )
+    const curveL3 = new THREE.CatmullRomCurve3(
+      [new THREE.Vector3(0.15 - (isLeft ? 0.05 : 0), 0, 0), new THREE.Vector3(0.1 - (isLeft ? 0.05 : 0), 0, 0)],
+      false,  // 闭合曲线
+      'catmullrom',
+      0
+    )
+    const curveL4 = new THREE.CatmullRomCurve3(
+      [new THREE.Vector3(0.30 - (isLeft ? 0.05 : 0), 0, 0), new THREE.Vector3(0.35 - (isLeft ? 0.05 : 0), 0, 0)],
+      false,  // 闭合曲线
+      'catmullrom',
+      0
+    )
+
+    if (!isLeft) {
+      const curveBar1 = new THREE.CatmullRomCurve3(
+        [new THREE.Vector3(-0.36, -0.4, 0), new THREE.Vector3(0.36, -0.4, 0)],
+        false,  // 闭合曲线
+        'catmullrom',
+        0
+      )
+      const curveBar2 = new THREE.CatmullRomCurve3(
+        [new THREE.Vector3(-0.36, 0, 0), new THREE.Vector3(0.36, 0, 0)],
+        false,  // 闭合曲线
+        'catmullrom',
+        0
+      )
+      const curveBar3 = new THREE.CatmullRomCurve3(
+        [new THREE.Vector3(-0.36, 0.4, 0), new THREE.Vector3(0.36, 0.4, 0)],
+        false,  // 闭合曲线
+        'catmullrom',
+        0
+      )
+      geometries.push(new THREE.ExtrudeGeometry(shapeBar, {
+        steps: 1,
+        bevelEnabled: false,
+        extrudePath: curveBar1
+      }))
+      geometries.push(new THREE.ExtrudeGeometry(shapeBar, {
+        steps: 1,
+        bevelEnabled: false,
+        extrudePath: curveBar2
+      }))
+      geometries.push(new THREE.ExtrudeGeometry(shapeBar, {
+        steps: 1,
+        bevelEnabled: false,
+        extrudePath: curveBar3
+      }))
+    }
+
+    const geometryL1 = new THREE.ExtrudeGeometry(shape, {
+      steps: 1,
+      bevelEnabled: false,
+      extrudePath: curveL1
+    })
+
+    const geometryL2 = new THREE.ExtrudeGeometry(shape, {
+      steps: 1,
+      bevelEnabled: false,
+      extrudePath: curveL2
+    })
+
+    const geometryL3 = new THREE.ExtrudeGeometry(shape, {
+      steps: 1,
+      bevelEnabled: false,
+      extrudePath: curveL3
+    })
+
+    const geometryL4 = new THREE.ExtrudeGeometry(shape, {
+      steps: 1,
+      bevelEnabled: false,
+      extrudePath: curveL4
+    })
+
+    geometries.push(geometryL1, geometryL2, geometryL3, geometryL4)
+
+    return mergeGeometries(geometries)
+  }
+
+  // 创建cc5叉的背板
+  static createCC5ForkBasePlate(): THREE.BufferGeometry {
+    // 606.5
+    const width = 0.3
+    const depth = 1.188
+    const dd = 0.05
+    const fdx = 0.06
+    const fdy = 0.03
+
+    const shape = new THREE.Shape();
+    shape.moveTo(-0.744 + 0.1, -0.5);
+    shape.lineTo(-0.744 + 0.1, 0.5);
+    shape.lineTo(-0.744 + 0.2, 0.5);
+    shape.lineTo(-0.744 + 0.2, -0.5);
+    shape.closePath()
+
+    const curve = new THREE.CatmullRomCurve3(
+      [new THREE.Vector3(0, -1.5/*0.02*/, 0), new THREE.Vector3(0, 1.287, 0)],
+      false,  // 闭合曲线
+      'catmullrom',
+      0
+    )
+    const options = {
+      steps: 1,
+      bevelSegments: 0.05,
+      bevelEnabled: true,
+      extrudePath: curve //  设置挤出轨迹
+    }
+    return new THREE.ExtrudeGeometry(shape, options)
+  }
+
+  static cc5PedestalGeometry: THREE.BufferGeometry = null
+  static cc5PillarGeometry: THREE.BufferGeometry = null
+  static cc5ForkGeometry: THREE.BufferGeometry = null
+  static cc5GemelGeometryL: THREE.BufferGeometry = null
+  static cc5GemelGeometryR: THREE.BufferGeometry = null
+  static cc5ForkBasePlateGeometry: THREE.BufferGeometry = null
+}

src/modules/amr/cc/cc5/CC53dObject.ts

@@ -0,0 +1,305 @@
+import * as THREE from 'three'
+import {CSG} from 'three-csg-ts'
+import gsap from 'gsap'
+//@ts-ignore
+import {mergeGeometries} from 'three/addons/utils/BufferGeometryUtils.js'
+import CC53DGraphics from "@/modules/amr/cc/cc5/CC53DGraphics";
+import Viewport from "@/core/engine/Viewport";
+import PtrObject from "@/modules/amr/ptr/PtrObject";
+import {worldModel} from "@/core/manager/WorldModel";
+
+
+export default class CC53dObject extends PtrObject {
+
+  override __rotationSpeed = (Math.PI / 10)
+  override __showForkSpeed: number = 0.15
+  override __upForkSpeed: number = 0.15
+
+  private get upForkSpeed() {
+    return this.__upForkSpeed * (worldModel.state.runState.timeRate ?? 1)
+  }
+  private get showForkSpeed() {
+    return this.__showForkSpeed * (worldModel.state.runState.timeRate ?? 1)
+  }
+  private get rotationSpeed() {
+    return this.__rotationSpeed * (worldModel.state.runState.timeRate ?? 1)
+  }
+
+  constructor(item: ItemJson, viewport: Viewport, option?: RendererCudOption) {
+    super(item, viewport)
+
+    if (!CC53DGraphics.cc5PedestalGeometry) {
+      CC53DGraphics.cc5PedestalGeometry = CC53DGraphics.createCC5Pedestal()
+    }
+    const cc5PedestalGeometry = CC53DGraphics.cc5PedestalGeometry
+    const cc5PedestalMaterial = new THREE.MeshPhongMaterial({color: 0xffdddbca})
+    const cc5PedestalMesh = new THREE.Mesh(cc5PedestalGeometry, cc5PedestalMaterial)
+
+    if (!CC53DGraphics.cc5PillarGeometry) {
+      CC53DGraphics.cc5PillarGeometry = CC53DGraphics.createCC5Pillar()
+    }
+    const cc5PillarGeometry = CC53DGraphics.cc5PillarGeometry
+    const cc5PillarMaterial = new THREE.MeshPhongMaterial({color: 0xff6c6956})
+    const cc5PillarMesh = new THREE.Mesh(cc5PillarGeometry, cc5PillarMaterial)
+
+    if (!CC53DGraphics.cc5ForkGeometry) {
+      CC53DGraphics.cc5ForkGeometry = CC53DGraphics.createCC5Fork()
+    }
+    const cc5ForkGeometry = CC53DGraphics.cc5ForkGeometry
+    const cc5ForkMaterial = new THREE.MeshPhongMaterial({color: 0xff444444})
+    const cc5ForkMesh = new THREE.Mesh(cc5ForkGeometry, cc5ForkMaterial)
+    cc5ForkMesh.name = 'cc5Fork'
+
+    if (!CC53DGraphics.cc5GemelGeometryL) {
+      CC53DGraphics.cc5GemelGeometryL = CC53DGraphics.createCC5Gemel(true)
+    }
+    const cc5GemelGeometryL = CC53DGraphics.cc5GemelGeometryL
+
+    if (!CC53DGraphics.cc5GemelGeometryR) {
+      CC53DGraphics.cc5GemelGeometryR = CC53DGraphics.createCC5Gemel(false)
+    }
+    const cc5GemelGeometryR = CC53DGraphics.cc5GemelGeometryR
+
+    const cc5GemelMaterial = new THREE.MeshPhongMaterial({color: 0xff555555})
+    const cc5GemelMeshL1 = new THREE.Mesh(cc5GemelGeometryL, cc5GemelMaterial)
+    cc5GemelMeshL1.name = 'cc5GemelMeshL1'
+    const cc5GemelMeshL2 = new THREE.Mesh(cc5GemelGeometryL, cc5GemelMaterial)
+    cc5GemelMeshL2.name = 'cc5GemelMeshL2'
+    const cc5GemelMeshR1 = new THREE.Mesh(cc5GemelGeometryR, cc5GemelMaterial)
+    cc5GemelMeshR1.name = 'cc5GemelMeshR1'
+    const cc5GemelMeshR2 = new THREE.Mesh(cc5GemelGeometryR, cc5GemelMaterial)
+    cc5GemelMeshR2.name = 'cc5GemelMeshR2'
+
+    if (!CC53DGraphics.cc5ForkBasePlateGeometry) {
+      CC53DGraphics.cc5ForkBasePlateGeometry = CC53DGraphics.createCC5ForkBasePlate()
+    }
+    const cc5ForkBasePlateGeometry = CC53DGraphics.cc5ForkBasePlateGeometry
+    const cc5ForkBasePlateMesh = new THREE.Mesh(cc5ForkBasePlateGeometry, cc5GemelMaterial)
+    cc5ForkBasePlateMesh.name = 'cc5ForkBasePlateMesh'
+
+    const d = 0
+
+    this.add(cc5PedestalMesh)
+    this.add(cc5PillarMesh)
+    this.add(cc5ForkMesh)
+
+
+    const ac = Math.asin(d / (2 * 0.8))
+
+
+    cc5GemelMeshL1.position.z = 0.5 - d / 4
+    cc5GemelMeshL1.position.y = 0.72
+    cc5GemelMeshL1.rotation.x = -ac
+
+    cc5GemelMeshL2.position.z = 0.5 - d / 4 * 3
+    cc5GemelMeshL2.position.y = 0.72
+    cc5GemelMeshL2.rotation.x = -ac
+
+    cc5GemelMeshR1.position.z = 0.5 - d / 4
+    cc5GemelMeshR1.position.y = 0.72
+    cc5GemelMeshR1.rotation.x = ac
+
+    cc5GemelMeshR2.position.z = 0.5 - d / 4 * 3
+    cc5GemelMeshR2.position.y = 0.72
+    cc5GemelMeshR2.rotation.x = ac
+
+    this.add(cc5GemelMeshL1)
+    this.add(cc5GemelMeshL2)
+    this.add(cc5GemelMeshR1)
+    this.add(cc5GemelMeshR2)
+    this.add(cc5ForkBasePlateMesh)
+  }
+
+  override animationShowFork(z: number): Promise<void> {
+    const cc5Fork = this.getObjectByName('cc5Fork')
+    const cc5GemelMeshL1 = this.getObjectByName('cc5GemelMeshL1')
+    const cc5GemelMeshL2 = this.getObjectByName('cc5GemelMeshL2')
+    const cc5GemelMeshR1 = this.getObjectByName('cc5GemelMeshR1')
+    const cc5GemelMeshR2 = this.getObjectByName('cc5GemelMeshR2')
+    const cc5ForkBasePlateMesh = this.getObjectByName('cc5ForkBasePlateMesh')
+
+    const fy = cc5Fork.position.y
+
+    const time = Math.abs((cc5Fork.position.z - z) / this.upForkSpeed)
+
+    const ac = Math.asin(z / (2 * 0.8))
+
+    // cc5GemelMeshL1.position.z = 0.5 - z/4
+    // cc5GemelMeshL1.position.y = fy + 0.72
+    // cc5GemelMeshL1.rotation.x = -ac
+    gsap.to(cc5GemelMeshL1.position, {
+      z: 0.5 - z / 4,
+      y: fy + 0.72,
+      duration: time,
+      repeat: 0,
+      ease: 'power1.inOut'
+    })
+    gsap.to(cc5GemelMeshL1.rotation, {
+      x: -ac,
+      duration: time,
+      repeat: 0,
+      ease: 'power1.inOut'
+    })
+    // cc5GemelMeshL2.position.z = 0.5 - z/4 * 3
+    // cc5GemelMeshL2.position.y = fy + 0.72
+    // cc5GemelMeshL2.rotation.x = -ac
+    gsap.to(cc5GemelMeshL2.position, {
+      z: 0.5 - z / 4 * 3,
+      y: fy + 0.72,
+      duration: time,
+      repeat: 0,
+      ease: 'power1.inOut'
+    })
+    gsap.to(cc5GemelMeshL2.rotation, {
+      x: -ac,
+      duration: time,
+      repeat: 0,
+      ease: 'power1.inOut'
+    })
+
+    // cc5GemelMeshR1.position.z = 0.5 - z/4
+    // cc5GemelMeshR1.position.y = fy + 0.72
+    // cc5GemelMeshR1.rotation.x = ac
+    gsap.to(cc5GemelMeshR1.position, {
+      z: 0.5 - z / 4,
+      y: fy + 0.72,
+      duration: time,
+      repeat: 0,
+      ease: 'power1.inOut'
+    })
+    gsap.to(cc5GemelMeshR1.rotation, {
+      x: ac,
+      duration: time,
+      repeat: 0,
+      ease: 'power1.inOut'
+    })
+
+    // cc5GemelMeshR2.position.z = 0.5 - z/4 * 3
+    // cc5GemelMeshR2.position.y = fy + 0.72
+    // cc5GemelMeshR2.rotation.x = ac
+    gsap.to(cc5GemelMeshR2.position, {
+      z: 0.5 - z / 4 * 3,
+      y: fy + 0.72,
+      duration: time,
+      repeat: 0,
+      ease: 'power1.inOut'
+    })
+    gsap.to(cc5GemelMeshR2.rotation, {
+      x: ac,
+      duration: time,
+      repeat: 0,
+      ease: 'power1.inOut'
+    })
+
+    gsap.to(cc5ForkBasePlateMesh.position, {
+      y: fy,
+      duration: time,
+      repeat: 0,
+      ease: 'power1.inOut'
+    })
+
+    return new Promise(resolve => {
+      this.actionAnimation = gsap.to(cc5Fork.position, {
+        z: -z,
+        duration: time,
+        repeat: 0,
+        ease: 'power1.inOut',
+        onComplete: ()=>{
+          setTimeout(() => {
+            resolve()
+          }, 1000 / (worldModel.state.runState.timeRate ?? 1))
+        },
+      })
+    })
+
+  }
+
+  override animationHideFork(): Promise<void> {
+    return this.animationShowFork(0)
+  }
+
+  override animationUpFork(y: number): Promise<void> {
+    const cc5Fork = this.getObjectByName('cc5Fork')
+    const cc5GemelMeshL1 = this.getObjectByName('cc5GemelMeshL1')
+    const cc5GemelMeshL2 = this.getObjectByName('cc5GemelMeshL2')
+    const cc5GemelMeshR1 = this.getObjectByName('cc5GemelMeshR1')
+    const cc5GemelMeshR2 = this.getObjectByName('cc5GemelMeshR2')
+    const cc5ForkBasePlateMesh = this.getObjectByName('cc5ForkBasePlateMesh')
+
+
+    const time = Math.abs((cc5Fork.position.y - y) / this.upForkSpeed)
+
+    gsap.to(cc5GemelMeshL1.position, {
+      y: y + 0.72,
+      duration: time,
+      repeat: 0,
+      ease: 'sine.inOut'
+    })
+    gsap.to(cc5GemelMeshL2.position, {
+      y: y + 0.72,
+      duration: time,
+      repeat: 0,
+      ease: 'sine.inOut'
+    })
+    gsap.to(cc5GemelMeshR1.position, {
+      y: y + 0.72,
+      duration: time,
+      repeat: 0,
+      ease: 'sine.inOut'
+    })
+    gsap.to(cc5GemelMeshR2.position, {
+      y: y + 0.72,
+      duration: time,
+      repeat: 0,
+      ease: 'sine.inOut'
+    })
+    gsap.to(cc5ForkBasePlateMesh.position, {
+      y: y,
+      duration: time,
+      repeat: 0,
+      ease: 'sine.inOut'
+    })
+
+    return new Promise(resolve => {
+      const bh = 0.22
+      const children = cc5Fork.children
+
+      this.actionAnimation = gsap.to(cc5Fork.position, {
+        y: y,
+        duration: time,
+        repeat: 0,
+        ease: 'sine.inOut',
+        onComplete: ()=>{
+          setTimeout(() => {
+            resolve()
+          }, 1000 / (worldModel.state.runState.timeRate ?? 1))
+        },
+        onUpdate: function() {
+          const a = this.targets()[0]
+          if (a.y <  bh) {
+            if (a.z > -1) {
+              for (let i = 0; i < children.length; i++) {
+                const child = children[i]
+                child.position.y = bh - a.y
+              }
+            } else if (a.y <  0 ) {
+              for (let i = 0; i < children.length; i++) {
+                const child = children[i]
+                child.position.y = 0 - a.y
+              }
+            }
+          }
+        }
+      })
+    })
+  }
+
+  override animationDownFork(): Promise<void> {
+    return this.animationUpFork(0)
+  }
+
+  override getArmObject(): THREE.Object3D | undefined {
+    const cc5Fork = this.getObjectByName('cc5Fork')
+    return cc5Fork
+  }
+}

src/modules/amr/cc/cc5/CC5Entity.ts

@@ -0,0 +1,11 @@
+import BaseEntity from '@/core/base/BaseItemEntity.ts'
+import type Viewport from '@/core/engine/Viewport.ts'
+import * as THREE from 'three'
+import gsap from 'gsap'
+import CC53dObject from './CC53dObject.ts'
+
+export default class CC5Entity extends BaseEntity {
+  constructor(viewport: Viewport, id: string) {
+    super(viewport, id)
+  }
+}

src/modules/amr/cc/cc5/CC5Interaction.ts

@@ -0,0 +1,22 @@
+import BaseInteraction from '@/core/base/BaseInteraction.ts'
+import * as THREE from 'three'
+
+export default class CC5Interaction extends BaseInteraction {
+
+  get isSinglePointMode(): boolean {
+    return true
+  }
+
+  constructor(itemTypeName: string) {
+    super(itemTypeName)
+  }
+
+  createPointOfItem(item: ItemJson, point: THREE.Vector3): ItemJson {
+    item = super.createPointOfItem(item, point)
+
+    // 创建一个地堆货架
+    item.dt.palletWidth = 1 // 宽度
+    item.dt.palletDepth = 1.2 // 深度
+    return item
+  }
+}

src/modules/amr/cc/cc5/CC5PropertySetter.ts

@@ -0,0 +1,24 @@
+import type { PropertySetter } from "@/core/base/PropertyTypes.ts";
+import { basicFieldsSetter } from "@/editor/widgets/property/PropertyPanelConstant.ts";
+
+const propertySetter: PropertySetter = {
+    flatten: {
+        fields: [
+            ...basicFieldsSetter,
+            {
+                dataPath: 'dt.clxWidth', label: 'CC5宽度', input: 'InputNumber',
+                inputProps: {},
+            },
+            {
+                dataPath: 'dt.clxDepth', label: 'CC5深度', input: 'InputNumber',
+                inputProps: {},
+            },
+            {
+              dataPath: 'state', label: 'CC5控制', input: 'PtrController',
+              inputProps: {},
+            },
+        ],
+    },
+};
+
+export default propertySetter;

src/modules/amr/cc/cc5/CC5Renderer.ts

@@ -0,0 +1,119 @@
+import * as THREE from 'three'
+import BaseRenderer from '@/core/base/BaseRenderer.ts'
+import Constract from '@/core/Constract.ts'
+import CC53dObject from './CC53dObject'
+import type { Object3DLike } from '@/types/ModelTypes.ts'
+import Viewport from "@/core/engine/Viewport";
+
+/**
+ * clx渲染器
+ */
+export default class CC5Renderer extends BaseRenderer {
+  static POINT_NAME = 'cc5'
+
+  pointMaterial: THREE.Material
+
+  /**
+   * 默认点的高度, 防止和地面重合
+   */
+  readonly defulePositionY: number = Constract.HEIGHT_WAY
+  readonly defaultScale: THREE.Vector3 = new THREE.Vector3(1.65, 3.393, 1.65)
+  readonly defaultRotation: THREE.Vector3 = new THREE.Vector3(0, 0, 0)
+  readonly defaultLineWidth: number = 0.15
+
+  constructor(itemTypeName: string) {
+    super(itemTypeName)
+  }
+
+  /**
+   * 所有的点，必须使用 storeWidth/storeDepth, 改TF无效
+   */
+  override afterCreateOrUpdatePoint(item: ItemJson, option: RendererCudOption, object: THREE.Object3D) {
+    super.afterCreateOrUpdatePoint(item, option, object)
+
+    const point = object
+    // point.position.y = this.defulePositionY
+    // point.scale.set(_.sumBy(item.dt.bays, b=>b.bayWidth), this.defaultScale.y, item.dt.rackDepth)
+    point.rotation.set(
+      THREE.MathUtils.degToRad(item.tf[1][0]),
+      THREE.MathUtils.degToRad(item.tf[1][1]),
+      THREE.MathUtils.degToRad(item.tf[1][2])
+    )
+  }
+
+
+  createLineBasic(start: ItemJson, end: ItemJson, type: LinkType): THREE.Object3D {
+    throw new Error('not allow store line.')
+  }
+
+  updateLine(start: ItemJson, end: ItemJson, type: LinkType, option?: RendererCudOption) {
+    throw new Error('not allow store line.')
+  }
+
+
+  createPoint(item: ItemJson, option?: RendererCudOption): THREE.Object3D {
+    // 创建平面几何体
+    const group = new CC53dObject(item, this.tempViewport, option)
+    group.name = CC5Renderer.POINT_NAME
+
+    // 设置位置
+    group.position.set(item.tf[0][0], item.tf[0][1], item.tf[0][2])
+    return group
+  }
+
+  /**
+   * 如果某物品要放到 Cl2 上 返回可存放的位置和角度一个 Position 和 Rotation
+   */
+  getStorePlacement(storeItem: ItemJson, bay = 0, level = 0, cell = 0)
+    : {
+    position: [number, number, number], rotation: [number, number, number],
+    getParentObject3D?: (viewport: Viewport, parent: THREE.Object3D) => THREE.Object3D
+  } {
+
+    return {
+      position: [0, 0.2, -0.15],
+      rotation: [0, 90, 0],
+      getParentObject3D: this.getArmObject.bind(this)
+    }
+  }
+  getArmObject(viewport: Viewport, item: ItemJson): THREE.Object3D {
+    // 获取机械臂对象
+    const object = viewport.entityManager.findObjectById(item.dt.storeAt?.item)
+    if (!object) {
+      console.warn('PtrRenderer: getArmObject failed, not found Cl2:', item.dt.storeAt?.item)
+      return
+    }
+
+    const agv = object as THREE.Group
+    const clxFork = agv.getObjectByName('clxFork')
+    return clxFork
+  }
+
+  updatePoint(item: ItemJson, object: Object3DLike, option?: RendererCudOption): Object3DLike {
+    const group: THREE.Group = object as THREE.Group
+
+    group.position.set(item.tf[0][0], item.tf[0][1], item.tf[0][2])
+    group.rotation.set(
+      THREE.MathUtils.degToRad(item.tf[1][0]),
+      THREE.MathUtils.degToRad(item.tf[1][1]),
+      THREE.MathUtils.degToRad(item.tf[1][2])
+    )
+
+    // 禁止缩放，
+    item.tf[2][0] = this.defaultScale.x
+    item.tf[2][1] = this.defaultScale.y
+    item.tf[2][2] = this.defaultScale.z
+
+    return group
+  }
+
+  dispose() {
+    super.dispose()
+    this.pointMaterial?.dispose()
+  }
+
+  createPointBasic(item: ItemJson, option?: RendererCudOption): THREE.Object3D {
+    throw new Error('Clx createPointBasic not allow!')
+  }
+
+}

src/modules/amr/cc/cc5/index.ts

@@ -0,0 +1,12 @@
+import { defineModule } from '@/core/manager/ModuleManager.ts'
+import CC5Renderer from './CC5Renderer.ts'
+import CC5Interaction from './CC5Interaction.ts'
+import propertySetter from './CC5PropertySetter.ts'
+
+export const ITEM_TYPE_NAME = 'cc5'
+
+export default defineModule(ITEM_TYPE_NAME, () => ({
+  renderer: new CC5Renderer(ITEM_TYPE_NAME),
+  interaction: new CC5Interaction(ITEM_TYPE_NAME),
+  setter: propertySetter
+}))

src/modules/amr/fm600/FM6003DGraphics.ts

@@ -0,0 +1,198 @@
+import * as THREE from "three";
+import {CSG} from "three-csg-ts";
+//@ts-ignore
+import { mergeGeometries } from 'three/addons/utils/BufferGeometryUtils.js'
+
+export default class FM6003DGraphics {
+
+// 创建ptr的底座
+  public static createFm600Pedestal(): THREE.BufferGeometry {
+    // 参数配置
+    const radius = 0.475        // 圆半径
+    const lineDist = 0.325     // 切割线距离圆心距离
+    const segments = 64       // 圆的分段精度
+
+    // 计算切割线与圆的交点
+    const intersectY = Math.sqrt(radius * radius - lineDist * lineDist)
+    const startAngle = Math.asin(intersectY / radius)
+    const endAngle = Math.PI - startAngle //Math.acos(intersectY / radius)
+
+
+    const shape = new THREE.Shape()
+    shape.moveTo(0, 0)  // 起点在圆心
+    shape.absarc(0, 0, radius, startAngle, endAngle, false) // 从0到π绘制半圆
+    // shape.lineTo(-lineDist, intersectY)
+    shape.absarc(0, 0, radius, startAngle + Math.PI, endAngle + Math.PI, false)
+
+
+    // shape.lineTo(lineDist, -intersectY)
+    // shape.lineTo(-0.5, -intersectY + 0.17)
+    // shape.lineTo(0.75, -intersectY + 0.17)
+    // shape.lineTo(0.75, intersectY - 0.17)
+    // shape.lineTo(-0.5, intersectY - 0.17)
+
+    shape.closePath()  // 闭合路径
+
+    // 拉伸轨迹线
+    const curve = new THREE.CatmullRomCurve3(
+      [new THREE.Vector3(0, 0.025, 0), new THREE.Vector3(0, 0.235, 0)],
+      false,  // 闭合曲线
+      'catmullrom',
+      0
+    )
+
+    // 挤出几何图形 参数
+    const options = {
+      steps: 1,
+      bevelEnabled: false,
+      extrudePath: curve //  设置挤出轨迹
+    }
+    // 创建挤出几何体
+    const geometry = new THREE.ExtrudeGeometry(shape, options)
+    const material = new THREE.MeshBasicMaterial({color: 0xffdddbca})
+    const mesh = new THREE.Mesh(geometry, material)
+
+    mesh.updateMatrix()
+
+    // 倒角
+    const shapeD = new THREE.Shape()
+    shapeD.moveTo(-0.035, -0.02)
+    shapeD.lineTo(0.035, 0.02)
+    shapeD.lineTo(-0.035, 0.02)
+    shapeD.closePath()
+
+    const curveD = new THREE.EllipseCurve(
+      0, 0, radius, radius, 0, Math.PI * 2, false, 0
+    )
+    // 生成拉伸路径点
+    const pointsD = curveD.getPoints(segments).map(p =>
+      new THREE.Vector3(p.x, 0.200, p.y)
+    )
+    // 3. 挤出成型
+    const optionsD = {
+      steps: segments,
+      bevelEnabled: false,
+      // bevelSegments: 0.01,
+      extrudePath: new THREE.CatmullRomCurve3(pointsD)
+    }
+
+    const geometryD = new THREE.ExtrudeGeometry(shapeD, optionsD)
+    const meshD = new THREE.Mesh(geometryD, material)
+    meshD.updateMatrix()
+
+    // 布尔运算
+    const result = CSG.subtract(mesh, meshD)
+
+    return result.geometry
+  }
+
+// 创建fm600的顶盘
+  public static createFm600Plate(): THREE.BufferGeometry {
+    // 参数配置
+    const radius = 0.425        // 圆半径
+    const lineDist = 0.3     // 切割线距离圆心距离
+    const segments = 64       // 圆的分段精度
+
+    // 计算切割线与圆的交点
+    const intersectY = Math.sqrt(radius * radius - lineDist * lineDist)
+    const startAngle = Math.asin(intersectY / radius)
+    const endAngle = Math.PI - startAngle //Math.acos(intersectY / radius)
+
+
+    const shape = new THREE.Shape()
+    shape.moveTo(0, 0)  // 起点在圆心
+    shape.absarc(0, 0, radius, startAngle, endAngle, false) // 从0到π绘制半圆
+    // shape.lineTo(-lineDist, intersectY)
+    shape.absarc(0, 0, radius, startAngle + Math.PI, endAngle + Math.PI, false)
+    shape.closePath()  // 闭合路径
+
+
+    // 拉伸轨迹线
+    const curve = new THREE.CatmullRomCurve3(
+      [new THREE.Vector3(0, 0.24, 0), new THREE.Vector3(0, 0.255, 0)],
+      false,  // 闭合曲线
+      'catmullrom',
+      0
+    )
+
+    // 挤出几何图形 参数
+    const options = {
+      steps: 1,
+      bevelEnabled: false,
+      extrudePath: curve //  设置挤出轨迹
+    }
+    // 创建挤出几何体
+    const geometry = new THREE.ExtrudeGeometry(shape, options)
+
+    const material = new THREE.MeshBasicMaterial({color: 0xffdddbca})
+    const mesh = new THREE.Mesh(geometry, material)
+
+    mesh.updateMatrix()
+
+
+    const holeShape = new THREE.Shape()
+    holeShape.moveTo(0, 0)
+    holeShape.absarc(0, 0, 0.1, 0, Math.PI * 2, false) // 从0到π绘制半圆
+    // 拉伸轨迹线
+    const holeCurve = new THREE.CatmullRomCurve3(
+      [new THREE.Vector3(0, 0.24, 0), new THREE.Vector3(0, 0.255, 0)],
+      false,  // 闭合曲线
+      'catmullrom',
+      0
+    )
+    // 挤出几何图形 参数
+    const holeOptions = {
+      steps: 1,
+      bevelEnabled: false,
+      extrudePath: holeCurve //  设置挤出轨迹
+    }
+
+    // 创建挤出几何体
+    const geometryD = new THREE.ExtrudeGeometry(holeShape, holeOptions)
+    const meshD = new THREE.Mesh(geometryD, material)
+    meshD.updateMatrix()
+    // 布尔运算
+    const result = CSG.subtract(mesh, meshD)
+    return result.geometry
+  }
+
+  public static createFm600Header(): THREE.BufferGeometry {
+
+    const radius = 0.475        // 圆半径
+    const lineDist = 0.325     // 切割线距离圆心距离
+    const segments = 64       // 圆的分段精度
+
+    // 计算切割线与圆的交点
+    const intersectY = Math.sqrt(radius * radius - lineDist * lineDist)
+    const startAngle = Math.asin(intersectY / radius)
+    const endAngle = Math.PI - startAngle //Math.acos(intersectY / radius)
+
+    const shapeH = new THREE.Shape()
+    shapeH.moveTo(-0.02, -0.02)
+    shapeH.lineTo(0.02, 0.02)
+    shapeH.lineTo(-0.02, 0.02)
+    shapeH.closePath()
+
+    const curveH = new THREE.EllipseCurve(
+      0, 0, radius-0.02, radius-0.02,  Math.PI * 2 - startAngle + 0.1, startAngle - 0.1,false, 0
+    )
+    // 生成拉伸路径点
+    const pointsH = curveH.getPoints(segments).map(p =>
+      new THREE.Vector3(p.x, 0.210, p.y)
+    )
+    const optionsH = {
+      steps: segments,
+      bevelEnabled: false,
+      // bevelSegments: 0.01,
+      extrudePath: new THREE.CatmullRomCurve3(pointsH)
+    }
+    const geometryH = new THREE.ExtrudeGeometry(shapeH, optionsH)
+    return geometryH
+  }
+
+
+  public static fm600PedestalGeometry: THREE.BufferGeometry = null
+  public static fm600PlateGeometry: THREE.BufferGeometry = null
+  public static fm600HeaderGeometry: THREE.BufferGeometry = null
+
+}

src/modules/amr/fm600/FM6003dObject.ts

@@ -0,0 +1,157 @@
+import * as THREE from 'three'
+import {CSG} from 'three-csg-ts'
+import gsap from 'gsap'
+import mqtt from 'mqtt'
+import {Euler} from 'three/src/math/Euler'
+import FM600Entity from './FM600Entity'
+import FM6003DGraphics from "./FM6003DGraphics"
+import PtrObject from "@/modules/amr/ptr/PtrObject";
+import Viewport from "@/core/engine/Viewport";
+import {worldModel} from "@/core/manager/WorldModel";
+
+export default class FM6003dObject extends PtrObject {
+
+  private _fm600Entity: FM600Entity = null
+
+  override __rotationSpeed = (Math.PI / 7)
+  override __showForkSpeed: number = 0.2
+  override __upForkSpeed: number = 0.05
+
+  private get upForkSpeed() {
+    return this.__upForkSpeed * (worldModel.state.runState.timeRate ?? 1)
+  }
+  private get rotationSpeed() {
+    return this.__rotationSpeed * (worldModel.state.runState.timeRate ?? 1)
+  }
+
+  public get fm600Entity(): FM600Entity {
+    if (!this._fm600Entity) {
+      const fm600: FM600Entity = Model.getFm600(this.item.id) as FM600Entity
+      this._fm600Entity = fm600
+    }
+    return this._fm600Entity
+  }
+
+  constructor(item: ItemJson, viewport: Viewport, option?: RendererCudOption) {
+    super(item, viewport)
+
+    if (!FM6003DGraphics.fm600PedestalGeometry) {
+      FM6003DGraphics.fm600PedestalGeometry = FM6003DGraphics.createFm600Pedestal()
+    }
+    // "#ff3232"
+    const fm600PedestalGeometry = FM6003DGraphics.fm600PedestalGeometry
+    const fm600PedestalMaterial = new THREE.MeshPhongMaterial({color: 0xffababab})
+    const fm600PedestalMesh = new THREE.Mesh(fm600PedestalGeometry, fm600PedestalMaterial)
+    const groupPedestal = new THREE.Group()
+    groupPedestal.name = 'fm600Pedestal'
+    groupPedestal.add(fm600PedestalMesh)
+
+    if (!FM6003DGraphics.fm600HeaderGeometry) {
+      FM6003DGraphics.fm600HeaderGeometry = FM6003DGraphics.createFm600Header()
+    }
+    const fm600HeaderGeometry = FM6003DGraphics.fm600HeaderGeometry
+    const fm600HeaderMaterial = new THREE.MeshPhongMaterial({color: 0xffff3232})
+    const fm600HeaderMesh = new THREE.Mesh(fm600HeaderGeometry, fm600HeaderMaterial)
+    groupPedestal.add(fm600HeaderMesh)
+
+    if (!FM6003DGraphics.fm600PlateGeometry) {
+      FM6003DGraphics.fm600PlateGeometry = FM6003DGraphics.createFm600Plate()
+    }
+    const fm600PlateGeometry = FM6003DGraphics.fm600PlateGeometry
+    // "#1f1d1d"
+    const fm600PlateMaterial = new THREE.MeshPhongMaterial({color: 0xff4d4d4d})
+    const pfm600PlateMesh = new THREE.Mesh(fm600PlateGeometry, fm600PlateMaterial)
+    pfm600PlateMesh.name = 'fm600Plate'
+
+
+
+    this.add(groupPedestal)
+    this.add(pfm600PlateMesh)
+  }
+
+  /*==========动画处理============*/
+
+
+  // 取货
+  override addLoad(height: number, goodsId: string): void {
+    this.actionAnimation = 'wq'
+    this.TaskMode = 2
+    this.OperationType = 1
+    this.animationUpPlate(0.1).then(
+      () => {
+        try {
+          // 将物品拾取到机械臂上
+          const mesh = this.pickupItem(goodsId)
+          mesh.position.set(0, 0, -0.15)
+          mesh.rotation.set(0, THREE.MathUtils.degToRad(90), 0)
+          this.getArmObject().add(mesh)
+        } catch (e) {
+          console.error(e)
+        }
+      }
+    )
+  }
+
+  // 卸货
+  override addUnload(height: number, goodsId: string): void {
+    this.actionAnimation = 'wq'
+    this.TaskMode = 2
+    this.OperationType = 2
+    this.animationDownPlate().then(
+      () => {
+        try {
+          const a = this.agvStatusVo.unloadBasLocationVo
+          // 将物品从机械臂上卸下
+          this.dropItem(goodsId, a.rack, a.bay, a.level, a.cell)
+        } catch (e) {
+          console.error(e)
+        }
+      }
+    )
+  }
+
+  animationUpPlate(y: number): Promise<void> {
+
+    const fm600Plate = this.getObjectByName('fm600Plate')
+    const time = Math.abs((fm600Plate.position.y - y) / this.upForkSpeed)
+
+    return new Promise(resolve => {
+      const bh = 0.32
+      const children = fm600Plate.children
+
+      this.actionAnimation = gsap.to(fm600Plate.position, {
+        y: y,
+        duration: time,
+        repeat: 0,
+        ease: 'sine.inOut',
+        onComplete: ()=>{
+          setTimeout(() => {
+            resolve()
+          }, 1000 / (worldModel.state.runState.timeRate ?? 1))
+        },
+        onUpdate: function () {
+          const a = this.targets()[0]
+          if (a.y < bh) {
+            if (a.y < 0) {
+              for (let i = 0; i < children.length; i++) {
+                const child = children[i]
+                child.position.y = 0 - a.y
+              }
+            }
+          }
+        }
+      })
+    })
+  }
+
+
+  override animationDownPlate(): Promise<void> {
+    return this.animationUpFork(0)
+  }
+
+  override getArmObject(): THREE.Object3D | undefined {
+    return this.getObjectByName('fm600Plate')
+  }
+}
+
+

src/modules/amr/fm600/FM600Entity.ts

@@ -0,0 +1,120 @@
+import * as THREE from 'three'
+import BaseEntity from '@/core/base/BaseItemEntity.ts'
+import type Viewport from '@/core/engine/Viewport.ts'
+import gsap from 'gsap'
+import { nextTick } from 'vue'
+import FM6003dObject from "./FM6003dObject";
+/**
+ * CL2 机械臂实体类
+ * 0.4m/ss // a  max 1.2m/s
+ * 90 = 3.5s cl2
+ * 90 = 5s // cLX
+ */
+export default class FM600Entity extends BaseEntity {
+  constructor(viewport: Viewport, id: string) {
+    super(viewport, id)
+  }
+
+
+
+
+  // 抬
+  addArmRaise(height: number) {
+    // super.addArmRaise(height)
+    this.taskQueue.add(this.createTask('ARM_RAISE',
+      () => this.cl2Object.animationUpFork(height)
+    ))
+  }
+
+  // 降
+  addArmLower() {
+    // super.addArmLower()
+    this.taskQueue.add(this.createTask('ARM_LOWER',
+      () => this.cl2Object.animationDownFork()
+    ))
+  }
+
+  // 伸
+  addArmExtender(z: number = 1.2) {
+    // super.addArmExtender()
+    this.taskQueue.add(this.createTask('ARM_EXTEND',
+      () => this.cl2Object.animationShowFork(z)
+    ))
+  }
+
+  // 缩
+  addArmRetractor() {
+    // super.addArmRetractor()
+    this.taskQueue.add(this.createTask('ARM_RETRACT',
+      () => this.cl2Object.animationHideFork()
+    ))
+  }
+  // 装
+  addLoad(item: string): void {
+
+    const ptrForkMesh = this.getArmObject()
+    this.taskQueue.add(this.createTask('LOAD', async () => {
+      // 实际业务中应包含装载逻辑
+      this.isCarrying = true
+      this.isLoading = true
+      // 将物品拾取到机械臂上
+      const mesh = this.pickupItem(item)
+      mesh.position.set(0, 0, -0.15)
+      mesh.rotation.set(0, THREE.MathUtils.degToRad(90), 0)
+      ptrForkMesh.add(mesh)
+    }))
+
+    this.taskQueue.add(this.createTask('ARM_RAISE',
+      ()=>{
+      return new Promise(resolve => {
+        gsap.to(ptrForkMesh.position, {
+          y: ptrForkMesh.position.y + 0.2,
+          duration: 1,
+          ease: 'sine.inOut',
+          onComplete: () => {
+            this.isCarrying = true
+            this.isLoading = false
+            resolve()
+          }
+        })
+      })
+      }))
+  }
+
+  // 卸
+  addUnload(itemId: string, rackId: string, bay?: number, level?: number, cell?: number): void {
+    this.taskQueue.add(this.createTask('UNLOAD', async () => {
+      const item = this.viewport.entityManager.findItemById(itemId)
+      this.isCarrying = false
+      this.isUnloading = false
+
+      // 将物品从机械臂上卸下
+      this.dropItem(item, rackId, bay, level)
+    }))
+  }
+
+  // 帮助方法：获取机械臂对象
+  getArmObject(): THREE.Object3D | undefined {
+    const agv = this.object as THREE.Group
+    if (agv.children.length > 1) {
+      const pillar = agv.children[1]
+      if (pillar.children.length > 1) {
+        return pillar.children[1]
+      }
+    }
+    return undefined
+  }
+
+  // 帮助方法：获取机械臂立柱
+  getArmPillar(): THREE.Object3D | undefined {
+    const agv = this.object as THREE.Group
+    if (agv.children.length > 1) {
+      return agv.children[1]
+    }
+    return undefined
+  }
+
+  get cl2Object(): FM6003dObject {
+    return this.object as FM6003dObject
+  }
+}

src/modules/amr/fm600/FM600Interaction.ts

@@ -0,0 +1,22 @@
+import BaseInteraction from '@/core/base/BaseInteraction.ts'
+import * as THREE from 'three'
+
+export default class FM600Interaction extends BaseInteraction {
+
+  get isSinglePointMode(): boolean {
+    return true
+  }
+
+  constructor(itemTypeName: string) {
+    super(itemTypeName)
+  }
+
+  createPointOfItem(item: ItemJson, point: THREE.Vector3): ItemJson {
+    item = super.createPointOfItem(item, point)
+
+    // 创建一个地堆货架
+    item.dt.palletWidth = 1 // 宽度
+    item.dt.palletDepth = 1.2 // 深度
+    return item
+  }
+}

src/modules/amr/fm600/FM600PropertySetter.ts

@@ -0,0 +1,24 @@
+import type { PropertySetter } from "@/core/base/PropertyTypes.ts";
+import { basicFieldsSetter } from "@/editor/widgets/property/PropertyPanelConstant.ts";
+
+const propertySetter: PropertySetter = {
+    flatten: {
+        fields: [
+            ...basicFieldsSetter,
+            {
+                dataPath: 'dt.palletWidth', label: '托盘宽度', input: 'InputNumber',
+                inputProps: {},
+            },
+            {
+                dataPath: 'dt.palletDepth', label: '托盘深度', input: 'InputNumber',
+                inputProps: {},
+            },
+            {
+              dataPath: 'state', label: 'ptr控制', input: 'PtrController',
+              inputProps: {},
+            },
+        ],
+    },
+};
+
+export default propertySetter;

src/modules/amr/fm600/FM600Renderer.ts

@@ -0,0 +1,122 @@
+import * as THREE from 'three'
+import BaseRenderer from '@/core/base/BaseRenderer.ts'
+import Constract from '@/core/Constract.ts'
+import FM6003dObject from './FM6003dObject'
+import type { Object3DLike } from '@/types/ModelTypes.ts'
+import type Viewport from '@/core/engine/Viewport.ts'
+
+/**
+ * ptr侧叉渲染器
+ */
+export default class FM600Renderer extends BaseRenderer {
+  static POINT_NAME = 'fm600'
+
+  pointMaterial: THREE.Material
+
+  /**
+   * 默认点的高度, 防止和地面重合
+   */
+  readonly defulePositionY: number = Constract.HEIGHT_WAY
+  readonly defaultScale: THREE.Vector3 = new THREE.Vector3(1.5, 1.98, 1.5)
+  readonly defaultRotation: THREE.Vector3 = new THREE.Vector3(0, 0, 0)
+
+  constructor(itemTypeName: string) {
+    super(itemTypeName)
+  }
+
+  /**
+   * 如果某物品要放到 Cl2 上 返回可存放的位置和角度一个 Position 和 Rotation
+   */
+  getStorePlacement(storeItem: ItemJson, bay = 0, level = 0, cell = 0)
+    : {
+    position: [number, number, number], rotation: [number, number, number],
+    getParentObject3D?: (viewport: Viewport, parent: THREE.Object3D) => THREE.Object3D
+  } {
+
+    return {
+      position: [0, 0.2, -0.15],
+      rotation: [0, 90, 0],
+      getParentObject3D: this.getArmObject.bind(this)
+    }
+  }
+
+  getArmObject(viewport: Viewport, item: ItemJson): THREE.Object3D {
+    // 获取机械臂对象
+    const object = viewport.entityManager.findObjectById(item.dt.storeAt?.item)
+    if (!object) {
+      console.warn('PtrRenderer: getArmObject failed, not found Cl2:', item.dt.storeAt?.item)
+      return
+    }
+
+    const agv = object as THREE.Group
+    if (agv.children.length > 1) {
+      const pillar = agv.children[1]
+      if (pillar.children.length > 1) {
+        return pillar.children[1]
+      }
+    }
+  }
+
+  /**
+   * 所有的点，必须使用 storeWidth/storeDepth, 改TF无效
+   */
+  override afterCreateOrUpdatePoint(item: ItemJson, option: RendererCudOption, object: THREE.Object3D) {
+    super.afterCreateOrUpdatePoint(item, option, object)
+
+    const point = object
+    // point.position.y = this.defulePositionY
+    // point.scale.set(_.sumBy(item.dt.bays, b=>b.bayWidth), this.defaultScale.y, item.dt.rackDepth)
+    point.rotation.set(
+      THREE.MathUtils.degToRad(item.tf[1][0]),
+      THREE.MathUtils.degToRad(item.tf[1][1]),
+      THREE.MathUtils.degToRad(item.tf[1][2])
+    )
+  }
+
+  createLineBasic(start: ItemJson, end: ItemJson, type: LinkType): THREE.Object3D {
+    throw new Error('not allow store line.')
+  }
+
+  updateLine(start: ItemJson, end: ItemJson, type: LinkType, option?: RendererCudOption) {
+    throw new Error('not allow store line.')
+  }
+
+
+  createPoint(item: ItemJson, option?: RendererCudOption): THREE.Object3D {
+    // 创建平面几何体
+    const group = new FM6003dObject(item, this.tempViewport, option)
+    group.name = FM600Renderer.POINT_NAME
+
+    // 设置位置
+    group.position.set(item.tf[0][0], item.tf[0][1], item.tf[0][2])
+    return group
+  }
+
+  updatePoint(item: ItemJson, object: Object3DLike, option?: RendererCudOption): Object3DLike {
+    const group: THREE.Group = object as THREE.Group
+
+    group.position.set(item.tf[0][0], item.tf[0][1], item.tf[0][2])
+    group.rotation.set(
+      THREE.MathUtils.degToRad(item.tf[1][0]),
+      THREE.MathUtils.degToRad(item.tf[1][1]),
+      THREE.MathUtils.degToRad(item.tf[1][2])
+    )
+
+    // 禁止缩放，
+    item.tf[2][0] = this.defaultScale.x
+    item.tf[2][1] = this.defaultScale.y
+    item.tf[2][2] = this.defaultScale.z
+
+    return group
+  }
+
+  dispose() {
+    super.dispose()
+    this.pointMaterial?.dispose()
+  }
+
+  createPointBasic(item: ItemJson, option?: RendererCudOption): THREE.Object3D {
+    throw new Error('Ptr createPointBasic not allow!')
+  }
+
+}

src/modules/amr/fm600/index.ts

@@ -0,0 +1,12 @@
+import { defineModule } from '@/core/manager/ModuleManager.ts'
+import FM600Renderer from './FM600Renderer.ts'
+import FM600Interaction from './FM600Interaction.ts'
+import propertySetter from './FM600PropertySetter.ts'
+
+export const ITEM_TYPE_NAME = 'fm600'
+
+export default defineModule(ITEM_TYPE_NAME, () => ({
+  renderer: new FM600Renderer(ITEM_TYPE_NAME),
+  interaction: new FM600Interaction(ITEM_TYPE_NAME),
+  setter: propertySetter
+}))

src/modules/amr/ptr/PtrObject.ts

@@ -661,7 +661,7 @@ export default class PtrObject extends THREE.Object3D {
         endDirection = data.EndDirection
       } else if (data.OperationType == 3 && data.ChargeDirection >= 0 && data.ChargeDirection <= 3) {
         endDirection = data.ChargeDirection
-      } else if (data.OperationType == 4 && data.GoodsSlotDirection >= 0 && data.GoodsSlotDirection <= 3) {
+      } else if ((data.OperationType == 1 || data.OperationType == 2 || data.OperationType == 4) && data.GoodsSlotDirection >= 0 && data.GoodsSlotDirection <= 3) {
         if (data.GoodsSlotDirection == 0) {
           endDirection = 3
         } else {
@@ -692,6 +692,41 @@ export default class PtrObject extends THREE.Object3D {
         }
       }
 
+      if (data.OperationType == 1) {
+        const stepTask: StepTask = {
+          SeqNo: data.SeqNo,
+          StepTaskType: 'LOAD',
+          OperationType: 1,
+          PickMode: 0,
+          X: data.EndX,
+          Y: data.EndY,
+          Speed: currentStepTask.Speed,
+          EndDirection: endDirection,
+          ChargeLocation: data.ChargeLocation,
+          GoodsSlotHeight: data.GoodsSlotHeight,
+          position: Model.getPositionByLogicXY(data.EndX, data.EndY) as THREE.Vector3,
+          isCompleted: false
+        }
+        this.currentStepTaskList.push(stepTask)
+      } else if (data.OperationType == 2) {
+
+        const stepTask: StepTask = {
+          SeqNo: data.SeqNo,
+          StepTaskType: 'UNLOAD',
+          OperationType: 2,
+          PickMode: 0,
+          X: data.EndX,
+          Y: data.EndY,
+          Speed: currentStepTask.Speed,
+          EndDirection: endDirection,
+          ChargeLocation: data.ChargeLocation,
+          GoodsSlotHeight: data.GoodsSlotHeight,
+          position: Model.getPositionByLogicXY(data.EndX, data.EndY) as THREE.Vector3,
+          isCompleted: false
+        }
+        this.currentStepTaskList.push(stepTask)
+      }
+
       if (data.OperationType == 3) {
 
         const stepTask: StepTask = {
@@ -983,7 +1018,7 @@ export default class PtrObject extends THREE.Object3D {
   }
 
   // 取货
-  addLoad(height: number, goodsId: string): void {
+  override addLoad(height: number, goodsId: string): void {
     this.actionAnimation = 'wq'
     this.TaskMode = 2
     this.PickMode = 1
@@ -1015,7 +1050,7 @@ export default class PtrObject extends THREE.Object3D {
   }
 
   // 卸货
-  addUnload(height: number, goodsId: string): void {
+  override addUnload(height: number, goodsId: string): void {
     this.actionAnimation = 'wq'
     this.TaskMode = 2
     this.PickMode = 2

src/types/Model.d.ts

@@ -34,6 +34,11 @@ declare interface Model {
    */
   getClx(id: string): ClxIf
 
+  /**
+   * 根据ID获取 FM600 车控制器
+   */
+  getFm600(id: string): Fm600If
+
 
   /**
    * 在指定位置创建一个流动的库存物品
@@ -398,6 +403,9 @@ interface Cl2If extends EntityIf, Carry, Walk, ForkArm, LiftingArm {
 interface ClxIf extends EntityIf, Carry, Walk, ForkArm, LiftingArm {
 }
 
+interface Fm600If extends EntityIf, Carry, Walk, ForkArm, LiftingArm {
+}
+
 interface CustomScript {
   /**
    * 脚本名称