import { BivectorN, TransformN, VecN } from '@holotope/core';
import type { HyperboxContactPatch4, HyperboxContactVertex4 } from './hyperbox-contact4.js';
import type { RigidBody4 } from './rigid-body4.js';
export type ContactTangentBasis4 = readonly [VecN, VecN, VecN];
/** Instantaneous world-space rigid motion, usable by dynamic or kinematic bodies. */
export interface RigidMotion4 {
    readonly center: VecN;
    readonly linearVelocity: VecN;
    readonly angularVelocityWorld: BivectorN;
}
export interface HyperboxContactKinematicsOptions4 {
    /** Evaluate the bounded solver subset (default) or every patch vertex. */
    pointSource?: 'solver' | 'vertices';
    /** Previous frame basis, projected forward to avoid tangent-coordinate flips. */
    previousTangentBasis?: readonly VecN[];
    /** Linear-independence band for frame construction. Default 1e-10. */
    frameTolerance?: number;
}
export interface HyperboxContactPointKinematics4 {
    readonly id: string;
    readonly vertex: HyperboxContactVertex4;
    /** Original-pose surface anchor on A (resolved point minus `translationA`). */
    readonly anchorA: VecN;
    /** Original-pose surface anchor on B. */
    readonly anchorB: VecN;
    readonly velocityA: VecN;
    readonly velocityB: VecN;
    /** `velocityA - velocityB`. */
    readonly relativeVelocity: VecN;
    /** Positive is separating along the B→A contact normal; negative is closing. */
    readonly normalSpeed: number;
    readonly tangentialVelocity: VecN;
    readonly tangentSpeeds: readonly [number, number, number];
}
export interface HyperboxContactKinematics4 {
    readonly normal: VecN;
    readonly tangentBasis: ContactTangentBasis4;
    readonly points: readonly HyperboxContactPointKinematics4[];
}
/** Snapshot the instantaneous motion of a simulated dynamic body. */
export declare function rigidMotionFromBody4(body: RigidBody4): RigidMotion4;
/**
 * Extract average world-space motion from two coherent rigid poses.
 *
 * This is the kinematic-driver bridge: animated platforms and authored motion
 * can participate in contact velocities without becoming dynamic bodies.
 */
export declare function rigidMotionFromTransforms4(previous: TransformN, current: TransformN, dt: number): RigidMotion4;
/** World velocity `v + Ω·(point-center)` for an R4 rigid motion. */
export declare function velocityAtWorldPoint4(motion: RigidMotion4, point: VecN): VecN;
/**
 * Builds the three-dimensional tangent basis of an R4 contact hyperplane.
 * A previous basis is parallel-projected and orthonormalized first, providing
 * coherent tangent coordinates under small normal changes.
 */
export declare function contactTangentBasis4(normal: VecN, previousBasis?: readonly VecN[], tolerance?: number): ContactTangentBasis4;
/** Extract normal and full three-tangent relative velocity at every box anchor. */
export declare function hyperboxContactKinematics4(patch: HyperboxContactPatch4, motionA: RigidMotion4, motionB: RigidMotion4, options?: HyperboxContactKinematicsOptions4): HyperboxContactKinematics4;
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