/**
 * ConstraintSolver.ts
 *
 * Sequential-impulse / PGS constraint solver for the HoloScript physics
 * engine. Supports the 8 joint constraint types in PhysicsTypes.ts plus a
 * unilateral contact constraint (normal + friction).
 *
 * This is a REAL impulse solver, not a position-bias heuristic:
 * - Each constraint row computes its effective mass `K = J·M⁻¹·Jᵀ` and the
 *   impulse `lambda = -(J·v + bias)/K`, mass-weighted via inverse mass /
 *   inverse inertia (constraint-impulse.ts).
 * - Impulses ACCUMULATE across the iteration loop and are clamped on the
 *   TOTAL accumulated value (proper PGS), so the 10-iteration loop actually
 *   converges instead of being a no-op multiplier.
 * - Warm-starting re-injects the previous frame's accumulated impulse at the
 *   start of the solve.
 * - Contacts resolve as unilateral normal impulses (clamped >= 0) plus
 *   Coulomb-clamped friction; restitution and Baumgarte penetration bias are
 *   folded into the row bias.
 *
 * The public API and return shape are unchanged: `solve(dt)` returns a Map of
 * per-body velocity corrections (the Δv each body should receive this step).
 *
 * @module physics
 */
import { IVector3, Constraint, IRigidBodyState } from './PhysicsTypes';
export interface ConstraintSolverConfig {
    iterations: number;
    baumgarte: number;
    warmStarting: boolean;
    slop: number;
}
export declare class ConstraintSolver {
    private config;
    private solved;
    constructor(config?: Partial<ConstraintSolverConfig>);
    addConstraint(constraint: Constraint, bodyA: IRigidBodyState, bodyB?: IRigidBodyState | null): void;
    removeConstraint(constraintId: string): boolean;
    getConstraints(): Constraint[];
    /**
     * Solve all constraints for one timestep using sequential impulses.
     *
     * Returns the velocity correction (Δv) to apply to each rigid body — the
     * difference between the post-solve velocity and the body's input velocity.
     * The caller integrates these onto the bodies; the solver never mutates the
     * caller's IRigidBodyState objects.
     */
    solve(dt: number): Map<string, {
        linearVelocity: IVector3;
        angularVelocity: IVector3;
    }>;
    getBrokenConstraints(): string[];
    clear(): void;
    private solveConstraint;
    private solvePoint;
    private solveDistance;
    private solveSpring;
    private solveHinge;
    private solveSlider;
    private solveCone;
    private solveGeneric6DOF;
    private solveContact;
    private warmStart;
}
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