/** Local tuple type for IK positions — avoids coupling to @holoscript/core object-style Vector3. */
type Vec3 = [number, number, number];
/**
 * IKSolver.ts
 *
 * Inverse Kinematics: two-bone IK, CCD chain solver,
 * pole target, foot placement, and constraint limits.
 *
 * @module animation
 */
export interface IKBone {
    id: string;
    position: Vec3;
    rotation: {
        x: number;
        y: number;
        z: number;
        w: number;
    };
    length: number;
    minAngle?: number;
    maxAngle?: number;
}
export interface IKChain {
    id: string;
    bones: IKBone[];
    target: Vec3;
    poleTarget?: Vec3;
    weight: number;
    iterations: number;
}
export type IKSolveMode = 'analytic' | 'ccd' | 'fabrik';
export interface FootPlacementConfig {
    rayHeight: number;
    rayLength: number;
    footOffset: number;
    blendSpeed: number;
    enabled: boolean;
}
export declare class IKSolver {
    private chains;
    private footConfig;
    private footPositions;
    addChain(chain: IKChain): void;
    removeChain(id: string): boolean;
    getChain(id: string): IKChain | undefined;
    getChainCount(): number;
    setTarget(chainId: string, x: number, y: number, z: number): void;
    setPoleTarget(chainId: string, x: number, y: number, z: number): void;
    setWeight(chainId: string, weight: number): void;
    solveTwoBone(chainId: string): boolean;
    solveCCD(chainId: string): boolean;
    solveFABRIK(chainId: string): boolean;
    solveChain(chainId: string, mode: IKSolveMode): boolean;
    setFootPlacement(config: Partial<FootPlacementConfig>): void;
    getFootPlacement(): FootPlacementConfig;
    updateFootPlacement(footId: string, groundHeight: number, dt: number): Vec3;
    solveAll(): void;
}
export {};
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