CL2 Task 封装

src/core/base/BaseItemEntity.ts

@@ -1,26 +1,285 @@
 import * as THREE from 'three'
+import gsap from 'gsap'
+import type { Object3DLike } from '@/types/ModelTypes.ts'
+import Viewport from '@/core/engine/Viewport.ts'
+import TaskQueue, { type Task } from '@/core/base/TaskQueue.ts'
+import type { MeshWrap } from '@/core/manager/InstanceMeshManager.ts'
+import { getRenderer } from '@/core/manager/ModuleManager.ts'
 
 /**
- * BaseEntity class
+ * 物流实体基类
- * Provides a base for managing logistics unit entities.
  */
-export default abstract class BaseEntity {
+export default abstract class BaseEntity implements EntityIf, Loadable, Carry, Walk, ForkArm, LiftingArm {
-  protected itemJson!: ItemJson
+  protected readonly viewport: Viewport
-  protected objects!: THREE.Object3D[]
+  protected readonly taskQueue: TaskQueue = new TaskQueue()
+  readonly id: string
+  readonly item: ItemJson
+  readonly object: THREE.Object3D
+  readonly t: string
+
+  isArmExtended: boolean = false
+  isArmRaised: boolean = false
+  isCarrying: boolean = false
+  isLoading: boolean = false
+  isUnloading: boolean = false
+  isWalking: boolean = false
+  isPaused: boolean = false
+
+  constructor(viewport: Viewport, id: string) {
+    this.viewport = viewport
+    this.id = id
+    this.item = viewport.find(id)
+    this.object = viewport.entityManager.findObjectById(id) as THREE.Object3D
+    this.t = this.item.t
+  }
+
+  // 帮助方法：获取机械臂对象
+  abstract getArmObject(): THREE.Object3D | undefined
+
+  // 帮助方法：获取机械臂立柱
+  abstract getArmPillar(): THREE.Object3D | undefined
+
+  // 待执行任务总数
+  get taskCount(): number {
+    return this.taskQueue.length
+  }
+
+  // 是否正在执行任务
+  get taskIsRunning(): boolean {
+    return this.taskQueue.isExecuting
+  }
+
+  // 取消所有任务
+  cancelTask(): void {
+    this.taskQueue.cancelAll()
+  }
+
+  // 暂停任务
+  taskPause(): void {
+    this.isPaused = true
+    this.taskQueue.pause()
+  }
+
+  // 恢复任务
+  taskResume(): void {
+    this.isPaused = false
+    this.taskQueue.resume()
+  }
+
+  // 开始执行任务
+  taskStartRun(): void {
+    this.taskQueue.start()
+  }
+
+  // 创建基础任务
+  protected createTask<T extends Task>(type: string, execute: () => Promise<void>, cancel?: () => void): T {
+    return { type, execute, cancel, isCancelable: true } as T
+  }
+
+  // 上
+  addArmRaise(height: number): void {
+    this.taskQueue.add(this.createTask('ARM_RAISE', async () => {
+      return new Promise(resolve => {
+        const arm = this.getArmObject()
+        if (!arm) return resolve()
+
+        gsap.to(arm.position, {
+          y: height,
+          duration: 3,
+          ease: 'sine.inOut',
+          onComplete: resolve
+        })
+      })
+    }, () => {
+      // 取消动画
+      gsap.killTweensOf(this.getArmObject()?.position)
+    }))
+  }
+
+  // 下
+  addArmLower(): void {
+    this.taskQueue.add(this.createTask('ARM_LOWER', async () => {
+      return new Promise(resolve => {
+        const arm = this.getArmObject()
+        if (!arm) return resolve()
+
+        gsap.to(arm.position, {
+          y: 0,
+          duration: 3,
+          ease: 'sine.inOut',
+          onComplete: resolve
+        })
+      })
+    }, () => {
+      gsap.killTweensOf(this.getArmObject()?.position)
+    }))
+  }
+
+  // 伸
+  addArmExtender(): void {
+    this.taskQueue.add(this.createTask('ARM_EXTEND', async () => {
+      return new Promise(resolve => {
+        const pillar = this.getArmPillar()
+        if (!pillar) return resolve()
+
+        gsap.to(pillar.position, {
+          z: -1.2,
+          duration: 3,
+          ease: 'sine.inOut',
+          onComplete: () => {
+            this.isArmExtended = true
+            resolve()
+          }
+        })
+      })
+    }, () => {
+      gsap.killTweensOf(this.getArmPillar()?.position)
+    }))
+  }
+
+  // 缩
+  addArmRetractor(): void {
+    this.taskQueue.add(this.createTask('ARM_RETRACT', async () => {
+      return new Promise(resolve => {
+        const pillar = this.getArmPillar()
+        if (!pillar) return resolve()
+
+        gsap.to(pillar.position, {
+          z: 0,
+          duration: 3,
+          ease: 'sine.inOut',
+          onComplete: () => {
+            this.isArmExtended = false
+            resolve()
+          }
+        })
+      })
+    }, () => {
+      gsap.killTweensOf(this.getArmPillar()?.position)
+    }))
+  }
+
+  // 装
+  addLoad(item: string): void {
+    this.taskQueue.add(this.createTask('LOAD', async () => {
+      // 实际业务中应包含装载逻辑
+      this.isCarrying = true
+      throw new Error(`装载物品 ${item} 的逻辑未实现`)
+    }))
+  }
+
+  // 卸
+  addUnload(item: string, rack: string, bay?: number, level?: number): void {
+    this.taskQueue.add(this.createTask('UNLOAD', async () => {
+      // 实际业务中应包含卸载逻辑
+      this.isCarrying = false
+      throw new Error(`装载物品 ${item} 的逻辑未实现`)
+    }))
+  }
+
+  // 转
+  addRotation(angle: number): void {
+    this.taskQueue.add(this.createTask('ROTATION', async () => {
+      return new Promise(resolve => {
+        const time = Math.abs(angle - THREE.MathUtils.radToDeg(this.object.rotation.y)) / 45
+        const duration = Math.max(0.5, time)
+
+        gsap.to(this.object.rotation, {
+          y: THREE.MathUtils.degToRad(angle),
+          duration,
+          ease: 'none',
+          onComplete: resolve
+        })
+      })
+    }, () => {
+      gsap.killTweensOf(this.object.rotation)
+    }))
+  }
+
+  // 走
+  addTravel(pos: Vector3IF | string): void {
+    this.taskQueue.add(this.createTask('TRAVEL', async () => {
+      return new Promise(resolve => {
+        const fromPos = this.object.position
+
+        let position: Vector3IF
+        if (pos instanceof String || typeof pos === 'string') {
+          pos = Model.getPositionByEntityId(pos as string)
+        }
+
+        const toPos = new THREE.Vector3(pos.x, pos.y, pos.z)
+        const distance = fromPos.distanceTo(toPos)
+        const speed = 2 // 2m/s
+        const duration = Math.max(1.5, distance / speed)
+
+        this.isWalking = true
+
+        gsap.to(this.object.position, {
+          x: toPos.x,
+          y: toPos.y,
+          z: toPos.z,
+          duration,
+          ease: 'sine.inOut',
+          onComplete: () => {
+            this.isWalking = false
+            resolve()
+          }
+        })
+      })
+    }, () => {
+      this.isWalking = false
+      gsap.killTweensOf(this.object.position)
+    }))
+  }
 
   /**
-   * Sets the `ItemJson` data for the entity.
+   * 拾取物品
-   * @param itemJson - The `ItemJson` data to set.
    */
-  setItem(itemJson: ItemJson): void {
+  pickupItem(id: string): THREE.Object3D {
-    this.itemJson = itemJson
+    // 找到物品所在的地方, 删除他
+    const item = this.viewport.entityManager.findItemById(id)
+    const wrap = this.viewport.entityManager.findObjectById(id) as MeshWrap
+
+    if (wrap.type !== 'MeshWrap') {
+      throw new Error(`无法拾取物品 ${id}，它不是一个有效的 MeshWrap`)
+    }
+    item.dt.storeAt = {
+      item: this.id
+    }
+    const mesh = wrap.manager.wrapToObject3D(wrap)
+    this.viewport.entityManager.replaceObject(id, mesh)
+    return mesh
   }
 
   /**
-   * Sets the `THREE.Object3D` object for the entity.
+   * 卸下物品
-   * @param object3D - The `THREE.Object3D` object to set.
    */
-  setObjects(objects: THREE.Object3D[]): void {
+  dropItem(item: ItemJson, storeItemId: string, bay?: number, level?: number, cell?: number): void {
-    this.objects = objects
+    item.dt.storeAt = {
+      item: storeItemId,
+      bay: bay,
+      level: level,
+      cell: cell
+    }
+    const rack = Model.find(storeItemId)
+    const rackRenderer = getRenderer(rack.t)
+    const itemRenderer = getRenderer(item.t)
+    if (!rackRenderer) {
+      throw new Error(`Renderer for type ${item.t} not found`)
+    }
+    if (!itemRenderer) {
+      throw new Error(`Renderer for type ${item.t} not found`)
+    }
+
+    const { position, rotation } = rackRenderer.getStorePlacement(this.viewport, item)
+    if (!position || !rotation) {
+      throw new Error(`无法获取物品 ${item.id} 的存储位置`)
+    }
+
+    this.getArmObject().clear()
+
+    itemRenderer.tempViewport = this.viewport
+    itemRenderer.createOrUpdatePointForRuntime(item, position, rotation)
+    itemRenderer.tempViewport = null
   }
 }

src/core/base/BaseRenderer.ts

@@ -119,6 +119,11 @@ export default abstract class BaseRenderer {
     return point
   }
 
+  createOrUpdatePointForRuntime(item: ItemJson, position: THREE.Vector3, rotation: THREE.Quaternion): Object3DLike {
+    const option = { isRuntime: true, position, rotation }
+    return this.createPointForEntity(item, option)
+  }
+
   /**
    * 创建一个点
    * @param item 点的定义
@@ -127,7 +132,16 @@ export default abstract class BaseRenderer {
   createPoint(item: ItemJson, option?: RendererCudOption): Object3DLike {
     // 由基础类创造一个属于自己的点演示
     const point = this.createPointBasic(item, option)
-    point.setMatrix4(getMatrixFromTf(item.tf))
+    let matrix = getMatrixFromTf(item.tf)
+    if (option?.position instanceof THREE.Vector3 && option?.rotation instanceof THREE.Quaternion) {
+      matrix = new THREE.Matrix4()
+      matrix.compose(
+        option.position,
+        option.rotation,
+        new THREE.Vector3(item.tf[2][0], item.tf[2][1], item.tf[2][2])
+      )
+    }
+    point.setMatrix4(matrix)
 
     // point.position.set(item.tf[0][0], item.tf[0][1], item.tf[0][2])
     //
@@ -250,6 +264,14 @@ export default abstract class BaseRenderer {
   }
 
   /**
+   * 获取物品存放位
+   * 获取物品存储到地堆货位中，返回可存放的位置和角度一个 Position 和 Rotation
+   */
+  getStorePlacement(viewport: Viewport, item: ItemJson): { position: THREE.Vector3, rotation: THREE.Quaternion } {
+    throw new Error(' 不支持库存物品的添加. t=' + this.itemTypeName)
+  }
+
+  /**
    * 更新一根线
    * @param start 起点
    * @param end 终点

src/core/base/Carry.ts

@@ -0,0 +1 @@
+

src/core/base/TaskQueue.ts

@@ -0,0 +1,98 @@
+/**
+ * 任务类型定义
+ */
+export interface Task {
+  type: string
+
+  execute(): Promise<void>
+
+  cancel?(): void
+
+  isCancelable?: boolean
+}
+
+/**
+ * 任务队列管理类
+ */
+export default class TaskQueue {
+  private queue: Task[] = []
+  private currentTask: Task | null = null
+  private isRunning = false
+  private isPaused = false
+  private onTaskComplete: ((task: Task) => void) | null = null
+
+  constructor() {
+  }
+
+  get length(): number {
+    return this.queue.length + (this.currentTask ? 1 : 0)
+  }
+
+  get isExecuting(): boolean {
+    return this.isRunning && !this.isPaused
+  }
+
+  add(task: Task): void {
+    this.queue.push(task)
+  }
+
+  clear(): void {
+    this.queue = []
+  }
+
+  pause(): void {
+    this.isPaused = true
+    if (this.currentTask && this.currentTask.cancel) {
+      this.currentTask.cancel()
+    }
+  }
+
+  resume(): void {
+    this.isPaused = false
+    if (this.currentTask) {
+      this.executeNextTask()
+    }
+  }
+
+  cancelAll(): void {
+    this.isRunning = false
+    this.isPaused = false
+    this.queue = []
+    if (this.currentTask && this.currentTask.cancel) {
+      this.currentTask.cancel()
+    }
+    this.currentTask = null
+    if (this.onTaskComplete) {
+      this.onTaskComplete(this.currentTask || { type: 'CANCELLED' } as Task)
+    }
+  }
+
+  start(onTaskComplete?: (task: Task) => void): void {
+    this.onTaskComplete = onTaskComplete
+    if (!this.isRunning) {
+      this.isRunning = true
+      this.executeNextTask()
+    }
+  }
+
+  private async executeNextTask(): Promise<void> {
+    if (this.isPaused || this.queue.length === 0) {
+      return
+    }
+
+    this.currentTask = this.queue.shift()!
+
+    try {
+      await this.currentTask.execute()
+      if (this.onTaskComplete) {
+        this.onTaskComplete(this.currentTask)
+      }
+      this.currentTask = null
+      this.executeNextTask()
+    } catch (error) {
+      console.error('Task execution failed:', error)
+      this.currentTask = null
+      this.executeNextTask()
+    }
+  }
+}

src/core/manager/EntityManager.ts

@@ -500,7 +500,7 @@ export default class EntityManager {
     if (!linkStartPointId) {
       return
     }
-    return getFreezeDeep(this.___entityMap.get(linkStartPointId))
+    return this.___entityMap.get(linkStartPointId)
   }
 
   getObjectByCanvasMouse(event: MouseEvent): Object3DLike[] {

src/core/manager/InstanceMeshManager.ts

@@ -12,8 +12,8 @@ export default class InstanceMeshManager {
   public readonly blockCapacity: number
 
   public readonly blocks: InstanceMeshBlock[] = []
-  private readonly geometry: THREE.BufferGeometry
+  public readonly geometry: THREE.BufferGeometry
-  private readonly material: THREE.Material
+  public readonly material: THREE.Material
 
   private readonly dummy: THREE.Object3D = new THREE.Object3D()
 
@@ -159,6 +159,53 @@ export default class InstanceMeshManager {
     }
     this.__uuidMap.clear()
   }
+
+  /**
+   * 将 MeshWrap 变成独立的 Object3D
+   */
+  wrapToObject3D(object: MeshWrap): THREE.Object3D {
+    if (!(object instanceof MeshWrap)) {
+      console.warn('InstanceMeshManager: Only THREE.Mesh can be wrapped')
+      return null
+    }
+    const wrap = object as MeshWrap
+    const matrix = wrap.matrix.clone()
+
+    const mesh = new THREE.Mesh(this.geometry, this.material)
+    mesh.uuid = wrap.uuid
+    mesh.name = wrap.name
+    mesh.visible = wrap.visible
+    mesh.userData = wrap.userData
+    matrix.decompose(mesh.position, mesh.quaternion, mesh.scale)
+    mesh.updateMatrix()
+
+    wrap.dispose()
+    return mesh
+  }
+
+  /**
+   * 将 Object3D 包装到 InstancedMesh 中
+   */
+  object3DToWrap(object: THREE.Object3D): MeshWrap {
+    if (!(object instanceof THREE.Mesh)) {
+      console.warn('InstanceMeshManager: Only THREE.Mesh can be wrapped')
+      return null
+    }
+
+    const entityId = object.uuid || system.createUUID()
+    const wrap = this.create(entityId, object.userData)
+
+    // 设置初始矩阵
+    object.updateMatrixWorld(true)
+    const matrix = new THREE.Matrix4().copy(object.matrixWorld)
+    wrap.setMatrix4(matrix)
+
+    // 设置其他属性
+    wrap.name = object.name || entityId
+    wrap.visible = object.visible
+
+    return wrap
+  }
 }
 
 export class MeshWrap {
@@ -174,6 +221,8 @@ export class MeshWrap {
   name: string
   visible: boolean
 
+  type = 'MeshWrap'
+
   get position(): THREE.Vector3 {
     const m = new THREE.Matrix4()
     this.manager.blocks[this.blockIndex].instancedMesh.getMatrixAt(this.meshIndex, m)

src/core/manager/TaskManager.ts

@@ -1,16 +1,5 @@
-// 任务 API
-// TaskSequence ts = TaskSequence.create(agv)
-// ts.addTask('TASKTYPE_LOAD', item, queue);
-// ts.addTask('TASKTYPE_TRAVEL', "entityId");
-// ts.addTask('TASKTYPE_ROTATION', 90);
-// ts.addTask('TASKTYPE_UNLOAD', item, rack);
-// ts.addTask('TASKTYPE_UNLOAD', item, rack, 1, 3);
-//
-// ts.dispatch();
-
-// import {Object3DLike} from "@/types/ModelTypes";
-import gsap from 'gsap'
 import * as THREE from 'three'
+import gsap from 'gsap'
 import Viewport from '@/core/engine/Viewport'
 
 export default class TaskManager implements TaskManagerIF {

src/core/manager/WorldModel.ts

@@ -10,7 +10,7 @@ import Pallet from '@/modules/pallet'
 import Tote from '@/modules/tote'
 import Agv1 from '@/modules/agv1'
 import Carton from '@/modules/carton'
-import Ptr from '@/modules/ptr'
+import Cl2 from '@/modules/cl2'
 import Clx from '@/modules/clx'
 import Charger from '@/modules/charger'
 import StateManager from '@/core/manager/StateManager.ts'
@@ -93,7 +93,7 @@ export default class WorldModel {
       Pallet,
       Tote,
       Carton,
-      Ptr,
+      Cl2,
       Clx,
       Agv1,
       Charger

src/core/script/ModelManager.ts

@@ -4,10 +4,19 @@ import * as THREE from 'three'
 import { getMatrixFromTf } from '@/core/ModelUtils.ts'
 import type { Object3DLike } from '@/types/ModelTypes.ts'
 import TaskManager from '../manager/TaskManager.ts'
+import Cl2Entity from '@/modules/cl2/Cl2Entity.ts'
 
 export default class ModelManager implements IControls, Model {
   private viewport: Viewport
 
+  getCl2(id: string): Cl2If {
+    return new Cl2Entity(this.viewport, id)
+  }
+
+  getClx(id: string): ClxIf {
+    throw new Error('Method not implemented.')
+  }
+
   createTask(agv: object): TaskManager {
     if (TaskManager.taskMap.has(agv)) {
       return TaskManager.taskMap.get(agv)

src/example/example1.js

@@ -128,13 +128,13 @@ export default {
           dt: { in: [], out: [], center: [], palletWidth: 1, palletDepth: 1.2 }
         }, {
           id: 'ptr1',
-          t: 'ptr',
+          t: 'cl2',
           v: true,
           tf: [[0.75, 0.075, 2], [0, 0, 0], [1.5, 1.2, 0.1]],
           dt: { in: [], out: [], center: [], ptrWidth: 1.5, ptrDepth: 1.5, ptrHeight: 1.98 }
         }, {
           id: 'ptr2',
-          t: 'ptr',
+          t: 'cl2',
           v: true,
           tf: [[3, 0.075, 2], [0, 0, 0], [1.5, 1.2, 0.1]],
           dt: { in: [], out: [], center: [], ptrWidth: 1.5, ptrDepth: 1.5, ptrHeight: 1.98 }
@@ -203,7 +203,7 @@ export default {
           v: true,
           tf: [[7.1, 0.1, 2.865], [0, 90, 0], [1, 0.01, 1]],
           dt: { in: [], out: [], center: [], storeWidth: 1.1, storeDepth: 1.3 }
-        }, { id: '1hAaZ1xtvukZowAKeWAcqs', t: 'gstore', v: true, tf: [[7.1, 0.1, 4.35], [0, 90, 0], [1, 0.01, 1]], dt: { in: [], out: [], center: [], storeWidth: 1.1, storeDepth: 1.3 } }, {
+        }, { id: '1hAaZ1xtvukZowAKeWAcqs', t: 'gstore', v: true, tf: [[7.1, 0.1, 4.35], [0, 0, 0], [1, 0.01, 1]], dt: { in: [], out: [], center: [], storeWidth: 1.1, storeDepth: 1.3 } }, {
           id: '28GxDYUqDwZc2WsOgMU2wi',
           t: 'gstore',
           v: true,
@@ -271,7 +271,7 @@ export default {
           dt: { in: [], out: [], center: ['0aJ81sOKqm9FYo60AIQmMG'] }
         }, {
           id: 'ptr1',
-          t: 'ptr',
+          t: 'cl2',
           v: true,
           tf: [[5.65, 0.1, 2.13], [0, -90, 0], [1, 1, 1]],
           dt: { in: [], out: [], center: [], ptrWidth: 1.5, ptrDepth: 1.5, ptrHeight: 1.98 }
@@ -293,54 +293,68 @@ export default {
           v: true,
           tf: [[5.655, 0.1, 8.75], [0, 0, 0], [1, 1, 1]],
           dt: { in: [], out: [], center: [], chargerWidth: 0.53, chargerDepth: 0.275, clxHeight: 0.3 }
-        }, {
+        },
-          id: 'pallet1122',
+        {
-          t: 'pallet',
+          id: 'pallet1122', // 托盘唯一编码
-          v: true,
+          t: 'pallet',      // 托盘类型
-          tf: [[1.5, 0.1, 0.63], [0, 0, 0], [1.2, 0.15, 1]],
+          v: true,          // 可见
-          dt: { in: [], out: [], center: [],  }
+          tf: [[1.5, 0.1, 0.63], [0, 0, 0], [1.2, 0.15, 1]], // 变换矩阵
-        }, {
+          dt: {
+            in: [], out: [], center: [],
+            storeAt: {   // 存储位置
+              item: '6Vu3dX1V7Si0ISWIiCkoEh', // 库存容器ID
+              bay: 0,   // 列
+              level: 0, // 层
+              cell: 0   // 格
+            }
+          }
+        },
+        {
           id: 'pallet1123',
           t: 'pallet',
           v: true,
           tf: [[7.1, 0.1, 2.865], [0, 0, 0], [1.2, 0.15, 1]],
-          dt: { in: [], out: [], center: [],  }
+          dt: {
-        }, {
+            in: [], out: [], center: [],
+            storeAt: { item: '38TYyVWMGLf8OogQMIiSOz', bay: 0, level: 0, cell: 0 }
+          }
+        },
+        {
           id: 'pallet1124',
           t: 'pallet',
           v: true,
           tf: [[4.196, 1.65, 3.95], [0, 0, 0], [1.2, 0.15, 1]],
-          dt: { in: [], out: [], center: [],  }
+          dt: { in: [], out: [], center: [] }
         }, {
           id: 'pallet1125',
           t: 'pallet',
           v: true,
           tf: [[4.196, 1.65, 5.225], [0, 0, 0], [1.2, 0.15, 1]],
-          dt: { in: [], out: [], center: [],  }
+          dt: { in: [], out: [], center: [] }
         }, {
           id: 'pallet1126',
           t: 'pallet',
           v: true,
           tf: [[4.196, 1.65, 7.775], [0, 0, 0], [1.2, 0.15, 1]],
-          dt: { in: [], out: [], center: [],  }
+          dt: { in: [], out: [], center: [] }
         }, {
           id: 'pallet1127',
           t: 'pallet',
           v: true,
           tf: [[4.196, 3.05, 3.95], [0, 0, 0], [1.2, 0.15, 1]],
-          dt: { in: [], out: [], center: [],  }
+          dt: { in: [], out: [], center: [] }
         }, {
           id: 'pallet1128',
           t: 'pallet',
           v: true,
           tf: [[4.196, 3.05, 5.225], [0, 0, 0], [1.2, 0.15, 1]],
-          dt: { in: [], out: [], center: [],  }
+          dt: { in: [], out: [], center: [] }
         }, {
           id: 'pallet1129',
           t: 'pallet',
           v: true,
           tf: [[4.196, 3.05, 7.775], [0, 0, 0], [1.2, 0.15, 1]],
-          dt: { in: [], out: [], center: [],  }
+          dt: { in: [], out: [], center: [] }
         }]
     },
     {

src/modules/cl2/Cl2Entity.ts

@@ -0,0 +1,72 @@
+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'
+
+/**
+ * CL2 机械臂实体类
+ */
+export default class Cl2Entity extends BaseEntity {
+  constructor(viewport: Viewport, id: string) {
+    super(viewport, id)
+  }
+
+  // 装
+  addLoad(item: string): void {
+    this.taskQueue.add(this.createTask('LOAD', async () => {
+      // 实际业务中应包含装载逻辑
+      this.isCarrying = true
+
+      const arm = this.getArmObject()
+
+      // 抬高20cm
+      this.isLoading = true
+      gsap.to(arm.position, {
+        y: arm.position.y + 0.2,
+        duration: 0.5,
+        ease: 'sine.inOut',
+        onComplete: () => {
+          this.isCarrying = true
+          this.isLoading = false
+          const mesh = this.pickupItem(item)
+          const ptrForkMesh = this.getArmObject()
+          mesh.position.set(0, 0.1, 0)
+          mesh.rotation.set(0, THREE.MathUtils.degToRad(90), 0)
+          ptrForkMesh.add(mesh)
+        }
+      })
+    }))
+  }
+
+  // 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
+      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
+  }
+}

src/modules/ptr/PtrRenderer.ts → src/modules/cl2/Cl2Renderer.ts

@@ -1,13 +1,7 @@
 import * as THREE from 'three'
 import BaseRenderer from '@/core/base/BaseRenderer.ts'
-import { Line2 } from 'three/examples/jsm/lines/Line2.js'
-import { LineGeometry } from 'three/examples/jsm/lines/LineGeometry.js'
-import { LineMaterial } from 'three/examples/jsm/lines/LineMaterial.js'
-import { decimalSumBy } from '@/core/ModelUtils'
 import Constract from '@/core/Constract.ts'
-import ptrUrl from '@/assets/images/ptr/ptr.png'
+import { CSG } from 'three-csg-ts'
-import { CSG } from 'three-csg-ts';
-import {BufferGeometry} from "three";
 
 /**
  * ptr侧叉渲染器
@@ -68,14 +62,17 @@ export default class PtrRenderer extends BaseRenderer {
     const ptrPedestalGeometry = this.createPtrPedestal(item, option)
     const ptrPedestalMaterial = new THREE.MeshPhongMaterial({color: 0xffdddbca});
     const ptrPedestalMesh = new THREE.Mesh(ptrPedestalGeometry, ptrPedestalMaterial);
+    ptrPedestalMesh.name = 'ptrPedestalMesh'
 
     const ptrPillarGeometry = this.createPtrPillar(item, option);
     const ptrPillarMaterial = new THREE.MeshPhongMaterial({color: 0xff6c6956});
     const ptrPillarMesh = new THREE.Mesh(ptrPillarGeometry, ptrPillarMaterial);
+    ptrPillarMesh.name = 'ptrPillarMesh'
 
     const ptrForkGeometry = this.createPtrFork(item, option);
     const ptrForkMaterial = new THREE.MeshPhongMaterial({color: 0xff111111});
     const ptrForkMesh = new THREE.Mesh(ptrForkGeometry, ptrForkMaterial);
+    ptrForkMesh.name = 'ptrForkMesh'
 
     group.add(ptrPedestalMesh)
     const groupPillar = new THREE.Group()

src/modules/cl2/index.ts

@@ -0,0 +1,15 @@
+import { defineModule } from '@/core/manager/ModuleManager.ts'
+import Cl2Renderer from './Cl2Renderer.ts'
+import Cl2Entity from './Cl2Entity.ts'
+import Cl2Interaction from './Cl2Interaction.ts'
+import propertySetter from "./Cl2PropertySetter.ts";
+
+export const ITEM_TYPE_NAME = 'cl2'
+
+export default defineModule({
+    name: ITEM_TYPE_NAME,
+    renderer: new Cl2Renderer(ITEM_TYPE_NAME),
+    interaction: new Cl2Interaction(ITEM_TYPE_NAME),
+    setter: propertySetter,
+    entity: Cl2Entity,
+})

src/modules/gstore/GstoreRenderer.ts

@@ -4,6 +4,7 @@ import Constract from '@/core/Constract.ts'
 import { type Object3DLike } from '@/types/ModelTypes.ts'
 import { getMatrixFromTf } from '@/core/ModelUtils.ts'
 import InstanceMeshManager from '@/core/manager/InstanceMeshManager.ts'
+import type Viewport from '@/core/engine/Viewport.ts'
 
 /**
  * 地堆货位渲染器
@@ -163,4 +164,26 @@ export default class GstoreRenderer extends BaseRenderer {
     })
   }
 
+  /**
+   * 获取物品存放位
+   * 获取物品存储到地堆货位中，返回可存放的位置和角度一个 Position 和 Rotation
+   */
+  getStorePlacement(viewport: Viewport, item: ItemJson): { position: THREE.Vector3, rotation: THREE.Quaternion } {
+    if (!item.dt?.storeAt?.item) {
+      // 没有定义存储位置，返回空对象
+      //@ts-ignore
+      return {}
+    }
+
+    // 将这个物品添加到库存中
+    const me = viewport.entityManager.findItemById(item.dt.storeAt.item)
+    const position = new THREE.Vector3(...me.tf[0])
+    const rotation = new THREE.Quaternion().setFromEuler(new THREE.Euler(
+      THREE.MathUtils.degToRad(me.tf[1][0]),
+      THREE.MathUtils.degToRad(me.tf[1][1]),
+      THREE.MathUtils.degToRad(me.tf[1][2]),
+      'XYZ'
+    ))
+    return { position, rotation }
+  }
 }

src/modules/ptr/PtrEntity.ts

@@ -1,5 +0,0 @@
-import BaseEntity from '@/core/base/BaseItemEntity.ts'
-
-export default class PtrEntity extends BaseEntity {
-
-}

src/modules/ptr/index.ts

@@ -1,15 +0,0 @@
-import { defineModule } from '@/core/manager/ModuleManager.ts'
-import PtrRenderer from './PtrRenderer.ts'
-import PtrEntity from './PtrEntity.ts'
-import PtrInteraction from './PtrInteraction.ts'
-import propertySetter from "@/modules/ptr/PtrPropertySetter.ts";
-
-export const ITEM_TYPE_NAME = 'ptr'
-
-export default defineModule({
-    name: ITEM_TYPE_NAME,
-    renderer: new PtrRenderer(ITEM_TYPE_NAME),
-    interaction: new PtrInteraction(ITEM_TYPE_NAME),
-    setter: propertySetter,
-    entity: PtrEntity,
-})

src/types/ScriptSupport.d.ts

@@ -21,6 +21,16 @@ declare interface Model {
   createTask(agv: object): TaskManagerIF
 
   /**
+   * 根据ID获取 CL2 叉车控制器
+   */
+  getCl2(id: string): Cl2If
+
+  /**
+   * 根据ID获取 CLX 叉车控制器
+   */
+  getClx(id: string): ClxIf
+
+  /**
    * 获取选中的对象
    */
   selectedObject: any

src/types/model.d.ts

@@ -39,7 +39,12 @@ interface InteractionCudOption {
  * 渲染器操作选项
  */
 interface RendererCudOption {
-  createFromInteraction: boolean
+  createFromInteraction?: boolean
+  isRuntime?: boolean
+  //THREE.Vector3
+  position?: any
+  //THREE.Quaternion
+  rotation?: any
 }
 
 /**
@@ -213,6 +218,16 @@ interface ItemJson extends ItemMetrix {
     protected?: boolean
 
     /**
+     * 物品所在的存储位置
+     */
+    storeAt?: {
+      item: string,  // 货架(地堆货位)ID
+      bay?: number,  // 货架(地堆货位)的列
+      level?: number // 货架(地堆货位)的层
+      cell?: number  // 货架(地堆货位)的格
+    }
+
+    /**
      * 其他自定义数据, 可以存储任何数据
      */
     [key: string]: any
@@ -266,3 +281,164 @@ interface UserData {
 
   [key: string]: any
 }
+
+/**
+ * 三维物体对象
+ */
+type Object3DIF = any
+
+/**
+ * 被搬运物体
+ */
+interface Loadable {
+  /**
+   * 拿起物体
+   */
+  pickupItem(item: string)
+
+  /**
+   * 卸下物体
+   */
+  dropItem(item: ItemJson, storeItemId: string, bay?: number, level?: number, cell?: number): void
+}
+
+/**
+ * 搬运能力
+ */
+interface Carry {
+
+  /**
+   * 是否正在搬运物体
+   */
+  isCarrying: boolean
+
+  /**
+   * 是否正在装载
+   */
+  isLoading: boolean
+
+  /**
+   * 是否正在卸载
+   */
+  isUnloading: boolean
+
+  /**
+   * 装载
+   */
+  addLoad(item: string): void
+
+  /**
+   * 卸载
+   */
+  addUnload(item: string, rack: string, bay?: number, level?: number): void
+}
+
+/**
+ * 行走能力
+ */
+interface Walk {
+  isWalking: boolean
+
+  /**
+   * 行走到指定位置
+   */
+  addTravel(pos: Vector3IF | string): void
+
+  /**
+   * 旋转到指定角度
+   */
+  addRotation(angle: number): void
+}
+
+/**
+ * 叉臂能力
+ */
+interface ForkArm {
+  isArmExtended: boolean
+
+  /**
+   * 升出叉臂
+   */
+  addArmExtender(): void
+
+  /**
+   * 收回叉臂
+   */
+  addArmRetractor(): void
+}
+
+/**
+ * 升降塔能力
+ */
+interface LiftingArm {
+
+  isArmRaised: boolean
+
+  /**
+   * 升起叉臂
+   */
+  addArmRaise(hight: number): void
+
+  /**
+   * 降下叉臂
+   */
+  addArmLower(): void
+}
+
+interface EntityIf {
+  id: string
+
+  t: string
+
+  item: ItemJson
+
+  object: Object3DIF
+
+  /**
+   * 取消所有任务
+   */
+  cancelTask(): void
+
+  /**
+   * 暂停任务
+   */
+  taskPause(): void
+
+
+  /**
+   * 恢复任务
+   */
+  taskResume(): void
+
+  /**
+   * 开始执行任务
+   */
+  taskStartRun(): void
+
+  /**
+   * 是否已暂停
+   */
+  isPaused: boolean
+
+  /**
+   * 当前任务数
+   */
+  taskCount: number
+
+  /**
+   * 当前任务是否正在运行
+   */
+  taskIsRunning: boolean
+}
+
+/**
+ * CL2 叉车接口
+ */
+interface Cl2If extends EntityIf, Carry, Walk, ForkArm, LiftingArm {
+}
+
+/**
+ * CLX 叉车接口
+ */
+interface ClxIf extends EntityIf, Carry, Walk, ForkArm, LiftingArm {
+}