import { VecN } from '@holotope/core';
import type { ConstraintBlock4 } from './constraint-block4.js';
import type { ConstraintParticipant4 } from './constraint-row4.js';
import { RigidBody4 } from './rigid-body4.js';
export type OrthonormalTwoFrameInput4 = readonly [
    VecN | ArrayLike<number>,
    VecN | ArrayLike<number>
];
export type OrthonormalTwoFrame4 = readonly [VecN, VecN];
export interface PlanarRotationConstraintBlock4Options {
    readonly id: string;
    readonly participantA: ConstraintParticipant4;
    readonly participantB: ConstraintParticipant4;
    /** Current ordered orthonormal world two-frame carried by participant A. */
    readonly fixedFrameA: OrthonormalTwoFrameInput4;
    /** Current ordered orthonormal world two-frame carried by participant B. */
    readonly fixedFrameB: OrthonormalTwoFrameInput4;
    /** Previous three-frame, projected forward for coordinate continuity. */
    readonly previousFirstTangentBasis?: readonly VecN[];
    /** Previous complementary two-frame, projected forward for continuity. */
    readonly previousComplementBasis?: readonly VecN[];
    /** Guard for either bisector chart. Default 1e-10. */
    readonly singularTolerance?: number;
    /** Rank threshold used while transporting coordinate frames. Default 1e-10. */
    readonly frameTolerance?: number;
    /** Unit-length and orthogonality validation band. Default 1e-10. */
    readonly orthonormalTolerance?: number;
}
export type PlanarRotationConstraintEvaluation4 = {
    readonly status: 'regular';
    readonly block: ConstraintBlock4;
    readonly fixedFrameA: OrthonormalTwoFrame4;
    readonly fixedFrameB: OrthonormalTwoFrame4;
    readonly referenceFrame: OrthonormalTwoFrame4;
    readonly firstTangentBasis: readonly [VecN, VecN, VecN];
    readonly complementBasis: readonly [VecN, VecN];
    readonly positionError: Float64Array;
    readonly firstAntipodalGuard: number;
    readonly secondBisectorGuard: number;
} | {
    readonly status: 'first-antipodal';
    readonly fixedFrameA: OrthonormalTwoFrame4;
    readonly fixedFrameB: OrthonormalTwoFrame4;
    readonly firstAntipodalGuard: number;
} | {
    readonly status: 'second-degenerate';
    readonly fixedFrameA: OrthonormalTwoFrame4;
    readonly fixedFrameB: OrthonormalTwoFrame4;
    readonly referenceDirection0: VecN;
    readonly firstAntipodalGuard: number;
    readonly secondBisectorGuard: number;
};
export type RegularPlanarRotationConstraint4 = Extract<PlanarRotationConstraintEvaluation4, {
    readonly status: 'regular';
}>;
/**
 * Builds the five-row Stiefel coordinate which fixes an ordered orthonormal
 * two-frame and leaves only rotation in its complementary plane free.
 */
export declare function planarRotationConstraintBlock4(options: PlanarRotationConstraintBlock4Options): PlanarRotationConstraintEvaluation4;
export type PlanarRotationJoint4Options = {
    readonly id: string;
    readonly bodyA: RigidBody4;
    readonly localFixedFrameA: OrthonormalTwoFrameInput4;
    readonly bodyB: RigidBody4;
    readonly localFixedFrameB: OrthonormalTwoFrameInput4;
    readonly singularTolerance?: number;
    readonly frameTolerance?: number;
    readonly orthonormalTolerance?: number;
} | {
    readonly id: string;
    readonly bodyA: RigidBody4;
    readonly localFixedFrameA: OrthonormalTwoFrameInput4;
    readonly bodyB?: null;
    readonly worldFixedFrameB: OrthonormalTwoFrameInput4;
    readonly singularTolerance?: number;
    readonly frameTolerance?: number;
    readonly orthonormalTolerance?: number;
};
/** Persistent fixed-two-frame binding with one complementary SO(2) free. */
export declare class PlanarRotationJoint4 {
    readonly id: string;
    readonly bodyA: RigidBody4;
    readonly localFixedFrameA: OrthonormalTwoFrame4;
    readonly bodyB: RigidBody4 | null;
    readonly fixedFrameB: OrthonormalTwoFrame4;
    readonly singularTolerance: number;
    readonly frameTolerance: number;
    readonly orthonormalTolerance: number;
    private previousFirstTangentBasis;
    private previousComplementBasis;
    constructor(options: PlanarRotationJoint4Options);
    worldFixedFrameA(): OrthonormalTwoFrame4;
    worldFixedFrameB(): OrthonormalTwoFrame4;
    constraint(): PlanarRotationConstraintEvaluation4;
    resetFrame(): void;
}
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