fix: 좌표 변환 시스템 수정 - Matrix 역변환 적용

ScreenToWorld 함수를 Matrix 역변환 방식으로 변경하여
줌/팬 상태에서도 정확한 마우스 좌표 변환 구현.
좌측 영역 객체 선택 문제 해결.

🤖 Generated with [Claude Code](https://claude.ai/code)

Co-Authored-By: Claude <noreply@anthropic.com>

Cs_HMI/AGVNavigationCore/Controls/UnifiedAGVCanvas.Mouse.cs

@@ -14,8 +14,6 @@ namespace AGVNavigationCore.Controls
         {
             Focus(); // 포커스 설정
 
-            if (_canvasMode == CanvasMode.ViewOnly) return;
-
             var worldPoint = ScreenToWorld(e.Location);
             var hitNode = GetNodeAt(worldPoint);
 
@@ -45,8 +43,6 @@ namespace AGVNavigationCore.Controls
 
         private void UnifiedAGVCanvas_MouseDoubleClick(object sender, MouseEventArgs e)
         {
-            if (_canvasMode == CanvasMode.ViewOnly) return;
-
             var worldPoint = ScreenToWorld(e.Location);
             var hitNode = GetNodeAt(worldPoint);
 
@@ -63,18 +59,7 @@ namespace AGVNavigationCore.Controls
 
             if (e.Button == MouseButtons.Left)
             {
-                // 목적지 선택 모드 처리 (시뮬레이터)
+                if (_editMode == EditMode.Move)
-                if (_editMode == EditMode.SelectTarget)
-                {
-                    var hitNode = GetNodeAt(worldPoint);
-                    if (hitNode != null)
-                    {
-                        TargetNodeSelected?.Invoke(this, hitNode);
-                        return;
-                    }
-                }
-
-                if (_canvasMode == CanvasMode.Edit && _editMode == EditMode.Move)
                 {
                     var hitNode = GetNodeAt(worldPoint);
                     if (hitNode != null)
@@ -208,10 +193,17 @@ namespace AGVNavigationCore.Controls
 
         private Point ScreenToWorld(Point screenPoint)
         {
-            return new Point(
+            // 변환 행렬 생성 (렌더링과 동일)
-                (int)((screenPoint.X - _panOffset.X) / _zoomFactor),
+            var transform = new System.Drawing.Drawing2D.Matrix();
-                (int)((screenPoint.Y - _panOffset.Y) / _zoomFactor)
+            transform.Scale(_zoomFactor, _zoomFactor);
-            );
+            transform.Translate(_panOffset.X, _panOffset.Y);
+
+            // 역변환 행렬로 화면 좌표를 월드 좌표로 변환
+            transform.Invert();
+            var points = new System.Drawing.PointF[] { new System.Drawing.PointF(screenPoint.X, screenPoint.Y) };
+            transform.TransformPoints(points);
+
+            return new Point((int)points[0].X, (int)points[0].Y);
         }
 
         private Point WorldToScreen(Point worldPoint)
@@ -268,7 +260,7 @@ namespace AGVNavigationCore.Controls
             // 화면에서 최소 20픽셀 정도의 히트 영역을 확보하되, 노드 크기보다 작아지지 않게 함
             var minHitRadiusInScreen = 20;
             var hitRadius = Math.Max(NODE_RADIUS, minHitRadiusInScreen / _zoomFactor);
-            
+
             var distance = Math.Sqrt(
                 Math.Pow(node.Position.X - point.X, 2) +
                 Math.Pow(node.Position.Y - point.Y, 2)
@@ -282,7 +274,7 @@ namespace AGVNavigationCore.Controls
             var minHitRadiusInScreen = 20;
             var radius = Math.Max(NODE_RADIUS, minHitRadiusInScreen / _zoomFactor);
             var center = node.Position;
-            
+
             // 5각형 꼭짓점 계산
             var points = new Point[5];
             for (int i = 0; i < 5; i++)
@@ -303,7 +295,7 @@ namespace AGVNavigationCore.Controls
             var minHitRadiusInScreen = 20;
             var radius = Math.Max(NODE_RADIUS, minHitRadiusInScreen / _zoomFactor);
             var center = node.Position;
-            
+
             // 삼각형 꼭짓점 계산
             var points = new Point[3];
             for (int i = 0; i < 3; i++)
@@ -345,21 +337,21 @@ namespace AGVNavigationCore.Controls
         private bool IsPointInLabelNode(Point point, MapNode node)
         {
             var text = string.IsNullOrEmpty(node.LabelText) ? node.NodeId : node.LabelText;
-            
+
             // 임시 Graphics로 텍스트 크기 측정
             using (var tempBitmap = new Bitmap(1, 1))
             using (var tempGraphics = Graphics.FromImage(tempBitmap))
             {
                 var font = new Font(node.FontFamily, node.FontSize, node.FontStyle);
                 var textSize = tempGraphics.MeasureString(text, font);
-                
+
                 var textRect = new Rectangle(
                     (int)(node.Position.X - textSize.Width / 2),
                     (int)(node.Position.Y - textSize.Height / 2),
                     (int)textSize.Width,
                     (int)textSize.Height
                 );
-                
+
                 font.Dispose();
                 return textRect.Contains(point);
             }
@@ -627,7 +619,7 @@ namespace AGVNavigationCore.Controls
         private (MapNode From, MapNode To)? GetConnectionAt(Point worldPoint)
         {
             const int CONNECTION_HIT_TOLERANCE = 10;
-            
+
             // 모든 연결선을 확인하여 클릭한 위치와 가장 가까운 연결선 찾기
             foreach (var fromNode in _nodes)
             {
@@ -645,7 +637,7 @@ namespace AGVNavigationCore.Controls
                     }
                 }
             }
-            
+
             return null;
         }
 
@@ -659,11 +651,11 @@ namespace AGVNavigationCore.Controls
 
             var dot = A * C + B * D;
             var lenSq = C * C + D * D;
-            
+
             if (lenSq == 0) return CalculateDistance(point, lineStart);
-            
+
             var param = dot / lenSq;
-            
+
             Point xx, yy;
             if (param < 0)
             {
@@ -680,7 +672,7 @@ namespace AGVNavigationCore.Controls
                 xx = new Point((int)(lineStart.X + param * C), (int)(lineStart.Y + param * D));
                 yy = xx;
             }
-            
+
             return CalculateDistance(point, xx);
         }