fix: 줌/팬 시 마우스 좌표 변환 버그 수정

주요 변경사항:
- Graphics Transform 순서 수정 (Translate → Scale)
- ScreenToWorld/WorldToScreen 공식 통일
- 마우스 휠 줌 계산 수정
- FitToNodes, PanTo 계산 수정
- GetVisibleBounds 공식 수정
- 이제 줌 상태에서 노드 선택이 정확하게 작동

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

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

Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Events.cs

@@ -21,9 +21,10 @@ namespace AGVNavigationCore.Controls
             g.InterpolationMode = InterpolationMode.High;
 
             // 변환 행렬 설정 (줌 및 팬)
+            // 순서: Translate 먼저, Scale 나중 (Append로 순서 보장)
             var transform = new Matrix();
-            transform.Scale(_zoomFactor, _zoomFactor);
             transform.Translate(_panOffset.X, _panOffset.Y);
+            transform.Scale(_zoomFactor, _zoomFactor, System.Drawing.Drawing2D.MatrixOrder.Append);
             g.Transform = transform;
 
             try
@@ -1716,10 +1717,12 @@ namespace AGVNavigationCore.Controls
 
         private Rectangle GetVisibleBounds()
         {
-            var left = (int)(-_panOffset.X / _zoomFactor);
+            // Graphics Transform: Screen = (World + Pan) * Zoom
-            var top = (int)(-_panOffset.Y / _zoomFactor);
+            // World = Screen / Zoom - Pan
-            var right = (int)((Width - _panOffset.X) / _zoomFactor);
+            var left = (int)(0 / _zoomFactor - _panOffset.X);
-            var bottom = (int)((Height - _panOffset.Y) / _zoomFactor);
+            var top = (int)(0 / _zoomFactor - _panOffset.Y);
+            var right = (int)(Width / _zoomFactor - _panOffset.X);
+            var bottom = (int)(Height / _zoomFactor - _panOffset.Y);
 
             return new Rectangle(left, top, right - left, bottom - top);
         }

Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Mouse.cs

@@ -190,8 +190,10 @@ namespace AGVNavigationCore.Controls
             Point mouseScreenPos = e.Location;
 
             // 줌 전 마우스가 가리키는 월드 좌표
-            float worldX_before = (mouseScreenPos.X - _panOffset.X) / _zoomFactor;
+            // Graphics Transform: Screen = (World + Pan) * Zoom
-            float worldY_before = (mouseScreenPos.Y - _panOffset.Y) / _zoomFactor;
+            // 역변환: World = Screen / Zoom - Pan
+            float worldX_before = mouseScreenPos.X / _zoomFactor - _panOffset.X;
+            float worldY_before = mouseScreenPos.Y / _zoomFactor - _panOffset.Y;
 
             // 이전 줌 팩터 저장
             float oldZoom = _zoomFactor;
@@ -203,8 +205,10 @@ namespace AGVNavigationCore.Controls
                 _zoomFactor = Math.Max(_zoomFactor / 1.15f, 0.1f);   // 축소
 
             // 줌 후에도 마우스가 같은 월드 좌표를 가리키도록 팬 오프셋 조정
-            _panOffset.X = (int)(mouseScreenPos.X - worldX_before * _zoomFactor);
+            // mouseScreen = (worldBefore + newPan) * newZoom
-            _panOffset.Y = (int)(mouseScreenPos.Y - worldY_before * _zoomFactor);
+            // newPan = mouseScreen / newZoom - worldBefore
+            _panOffset.X = (int)(mouseScreenPos.X / _zoomFactor - worldX_before);
+            _panOffset.Y = (int)(mouseScreenPos.Y / _zoomFactor - worldY_before);
 
             Invalidate();
         }
@@ -216,9 +220,10 @@ namespace AGVNavigationCore.Controls
         private Point ScreenToWorld(Point screenPoint)
         {
             // 스크린 좌표를 월드 좌표로 변환
-            // 역순으로: 팬 오프셋 제거 → 줌 적용
+            // Graphics Transform: Screen = (World + Pan) * Zoom
-            float worldX = (screenPoint.X - _panOffset.X) / _zoomFactor;
+            // 역변환: World = Screen / Zoom - Pan
-            float worldY = (screenPoint.Y - _panOffset.Y) / _zoomFactor;
+            float worldX = screenPoint.X / _zoomFactor - _panOffset.X;
+            float worldY = screenPoint.Y / _zoomFactor - _panOffset.Y;
 
             return new Point((int)worldX, (int)worldY);
         }
@@ -226,10 +231,10 @@ namespace AGVNavigationCore.Controls
         private Point WorldToScreen(Point worldPoint)
         {
             // 월드 좌표를 스크린 좌표로 변환
-            // 순서: 줌 적용 → 팬 오프셋 추가
+            // Graphics Transform: Screen = (World + Pan) * Zoom
             return new Point(
-                (int)(worldPoint.X * _zoomFactor + _panOffset.X),
+                (int)((worldPoint.X + _panOffset.X) * _zoomFactor),
-                (int)(worldPoint.Y * _zoomFactor + _panOffset.Y)
+                (int)((worldPoint.Y + _panOffset.Y) * _zoomFactor)
             );
         }
 
@@ -744,8 +749,11 @@ namespace AGVNavigationCore.Controls
             var centerX = (minX + maxX) / 2;
             var centerY = (minY + maxY) / 2;
 
-            _panOffset.X = (int)(Width / 2 - centerX * _zoomFactor);
+            // Graphics Transform: Screen = (World + Pan) * Zoom
-            _panOffset.Y = (int)(Height / 2 - centerY * _zoomFactor);
+            // 중앙에 위치: Width/2 = (centerX + Pan) * Zoom
+            // Pan = Width/2 / Zoom - centerX
+            _panOffset.X = (int)(Width / 2 / _zoomFactor - centerX);
+            _panOffset.Y = (int)(Height / 2 / _zoomFactor - centerY);
 
             Invalidate();
         }
@@ -765,8 +773,11 @@ namespace AGVNavigationCore.Controls
         /// </summary>
         public void PanTo(Point worldPoint)
         {
-            _panOffset.X = (int)(Width / 2 - worldPoint.X * _zoomFactor);
+            // Graphics Transform: Screen = (World + Pan) * Zoom
-            _panOffset.Y = (int)(Height / 2 - worldPoint.Y * _zoomFactor);
+            // 중앙에 위치: Width/2 = (worldPoint + Pan) * Zoom
+            // Pan = Width/2 / Zoom - worldPoint
+            _panOffset.X = (int)(Width / 2 / _zoomFactor - worldPoint.X);
+            _panOffset.Y = (int)(Height / 2 / _zoomFactor - worldPoint.Y);
             Invalidate();
         }
 

Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.cs

@@ -1382,14 +1382,12 @@ namespace AGVSimulator.Forms
                     {
                         logItem.Success = true;
                         logItem.Message = "성공";
-                        //logItem.DetailedPath = string.Join(" → ", currentPath.GetDetailedInfo());
                         logItem.DetailedPath = currentPath.GetDetailedPathInfo();
                     }
                     else
                     {
                         logItem.Success = false;
                         logItem.Message = $"도킹 검증 실패: {dockingValidation.ValidationError}";
-                        //logItem.DetailedPath = string.Join(" → ", currentPath.GetDetailedInfo());
                         logItem.DetailedPath = currentPath.GetDetailedPathInfo();
                     }
                 }