import { BivectorN, Rotor4, TransformN, VecN } from '@holotope/core';
import type { RigidMotion4 } from './contact-kinematics4.js';
import { RigidTrajectory4 } from './rigid-trajectory4.js';
export interface KinematicBody4Options {
    readonly trajectory: RigidTrajectory4;
    readonly duration: number;
}
/**
 * Non-dynamic R4 pose owner driven by one explicit rigid trajectory segment.
 * It supplies prescribed contact velocity but never receives solver impulses.
 */
export declare class KinematicBody4 implements RigidMotion4 {
    readonly position: VecN;
    rotation: Rotor4;
    constructor(options: KinematicBody4Options);
    static fromTransforms(start: TransformN, end: TransformN, duration: number): KinematicBody4;
    /** Alias required by the prescribed rigid-motion response contract. */
    get center(): VecN;
    /** Snapshot of the prescribed physical translation rate. */
    get linearVelocity(): VecN;
    /** Snapshot of the prescribed physical world-left angular rate. */
    get angularVelocityWorld(): BivectorN;
    get duration(): number;
    get elapsedTime(): number;
    get remainingTime(): number;
    pose(): TransformN;
    /**
     * Starts a new continuous segment at the current pose. Discontinuous
     * replacement is refused rather than being mislabeled as continuous motion.
     */
    setTrajectory(trajectory: RigidTrajectory4, duration: number): this;
}
export interface KinematicBodyPosePlan4 {
    readonly body: KinematicBody4;
    readonly duration: number;
    readonly startElapsedTime: number;
    readonly trajectory: RigidTrajectory4;
    /** Opaque segment identity used to refuse stale plans after replacement. */
    readonly revision: number;
}
/** Freezes the exact next suffix of a prescribed kinematic segment. */
export declare function planKinematicBodyPose4(body: KinematicBody4, duration: number): KinematicBodyPosePlan4;
/** Applies an absolute normalized sample of a frozen kinematic pose plan. */
export declare function applyKinematicBodyPosePlan4(plan: KinematicBodyPosePlan4, time: number): KinematicBody4;
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