import { BivectorN, MatN, Rotor4 } from '@holotope/core';
import type { ConstraintBlock4 } from './constraint-block4.js';
import type { ConstraintParticipant4 } from './constraint-row4.js';
import { type OrientationBranchToken4 } from './orientation-coordinates4.js';
import { RigidBody4 } from './rigid-body4.js';
export interface OrientationConstraintBlock4Options {
    readonly id: string;
    readonly participantA: ConstraintParticipant4;
    readonly participantB: ConstraintParticipant4;
    /** Current oriented material frame carried by participant A. */
    readonly frameA: Rotor4;
    /** Current target frame carried by participant B or fixed in the world. */
    readonly frameB: Rotor4;
    readonly previousBranch?: OrientationBranchToken4;
    readonly cutLocusTolerance?: number;
    readonly branchHysteresis?: number;
}
export type OrientationConstraintEvaluation4 = {
    readonly status: 'regular';
    readonly block: ConstraintBlock4;
    readonly frameA: Rotor4;
    readonly frameB: Rotor4;
    readonly error: BivectorN;
    readonly branch: OrientationBranchToken4;
    readonly cutLocusGuard: number;
    readonly shortestPairSign: 1 | -1;
    readonly usesShortestLift: boolean;
    /** Exact map from A's world-left angular velocity to error rate. */
    readonly jacobianA: MatN;
    /** Exact signed map from B's world-left angular velocity to error rate. */
    readonly jacobianB: MatN;
} | {
    readonly status: 'cut-locus';
    readonly frameA: Rotor4;
    readonly frameB: Rotor4;
    readonly branch: OrientationBranchToken4;
    readonly cutLocusGuard: number;
    readonly shortestPairSign: 1 | -1;
};
/**
 * Builds the complete six-row rotational coordinate preserving one oriented
 * R4 frame. Translation remains deliberately outside this policy.
 */
export declare function orientationConstraintBlock4(options: OrientationConstraintBlock4Options): OrientationConstraintEvaluation4;
export type OrientationJoint4Options = {
    readonly id: string;
    readonly bodyA: RigidBody4;
    readonly localFrameA?: Rotor4;
    readonly bodyB: RigidBody4;
    readonly localFrameB?: Rotor4;
    readonly cutLocusTolerance?: number;
    readonly branchHysteresis?: number;
} | {
    readonly id: string;
    readonly bodyA: RigidBody4;
    readonly localFrameA?: Rotor4;
    readonly bodyB?: null;
    readonly worldFrameB: Rotor4;
    readonly cutLocusTolerance?: number;
    readonly branchHysteresis?: number;
};
/** Persistent material-frame binding with explicit SO(4) branch continuity. */
export declare class OrientationJoint4 {
    readonly id: string;
    readonly bodyA: RigidBody4;
    readonly localFrameA: Rotor4;
    readonly bodyB: RigidBody4 | null;
    /** Body-local when `bodyB` exists; fixed-world otherwise. */
    readonly frameB: Rotor4;
    readonly cutLocusTolerance: number;
    readonly branchHysteresis: number;
    private previousBranch;
    constructor(options: OrientationJoint4Options);
    worldFrameA(): Rotor4;
    worldFrameB(): Rotor4;
    constraint(): OrientationConstraintEvaluation4;
    resetBranch(): void;
}
//# sourceMappingURL=orientation-joint4.d.ts.map