import { VecN } from '@holotope/core';
import { type GjkOptions, type GjkResult } from './gjk.js';
import { type SupportShapeN } from './support-shape.js';
export interface GjkMarginOptions extends GjkOptions {
    /** Spherical margin around shape A's convex core. */
    marginA: number;
    /** Spherical margin around shape B's convex core. */
    marginB: number;
}
export type GjkMarginStatus = 'separated' | 'margin-contact' | 'core-contact' | 'iteration-limit';
/**
 * Shallow-contact result for two convex cores surrounded by spherical margins.
 * `core-contact` is intentionally non-metric: once the cores touch or overlap,
 * closest-point GJK no longer supplies a trustworthy penetration normal.
 */
export interface GjkMarginResult {
    readonly status: GjkMarginStatus;
    readonly intersects: boolean | null;
    /** Core distance minus both margins; null after core contact/indeterminacy. */
    readonly signedDistance: number | null;
    readonly distance: number | null;
    /** Penetration of margins only; null when the convex cores already contact. */
    readonly penetrationDepth: number | null;
    /** Unit vector from B toward A while the cores remain separated. */
    readonly normal: VecN | null;
    readonly closestPointA: VecN | null;
    readonly closestPointB: VecN | null;
    readonly contactPoint: VecN | null;
    readonly coreResult: GjkResult;
}
/**
 * Query rounded shapes by running GJK on their cores at positive distance.
 * This preserves a stable normal for ordinary shallow contacts and makes the
 * deep/core-overlap boundary explicit instead of fabricating EPA-like data.
 */
export declare function gjkMarginDistance(shapeA: SupportShapeN, shapeB: SupportShapeN, options: GjkMarginOptions): GjkMarginResult;
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