import { VecN } from '@holotope/core';
import { type ConstraintParticipant4 } from './constraint-row4.js';
import { RigidBody4 } from './rigid-body4.js';
/** Dynamic body, prescribed rigid motion, or a fixed world participant. */
export type PointJointParticipant4 = ConstraintParticipant4;
/** Four coupled bilateral velocity constraints at a pair of world-space anchors. */
export interface PointJointConstraint4 {
    /** Must be unique within a solver; persistent IDs retain warm impulses. */
    readonly id: string;
    readonly participantA: PointJointParticipant4;
    readonly participantB: PointJointParticipant4;
    /** Current world-space anchor attached to participant A. */
    readonly anchorA: VecN;
    /** Current world-space anchor attached to participant B. */
    readonly anchorB: VecN;
}
export interface PointJointSolver4Options {
    /** Block Gauss-Seidel passes. Default 8. */
    readonly iterations?: number;
    /** Fraction of anchor error corrected per step. Default 0.2. */
    readonly baumgarte?: number;
    /** Anchor error ignored by velocity-level bias. Default 0.001. */
    readonly positionSlop?: number;
    /** Upper bound on the bias target's R4 speed. Default 2. */
    readonly maxBiasSpeed?: number;
    /** Apply coherent impulses retained from the previous solve. Default true. */
    readonly warmStart?: boolean;
}
export interface PointJointResult4 {
    readonly id: string;
    /** Initial world-space anchor error `anchorA - anchorB`. */
    readonly initialError: VecN;
    readonly initialRelativeVelocity: VecN;
    /** Desired `velocityA - velocityB`, including bounded position bias. */
    readonly targetRelativeVelocity: VecN;
    /** Row-major 4x4 map from world impulse to relative anchor velocity. */
    readonly response: Float64Array;
    /** Row-major inverse of `response`. */
    readonly effectiveMass: Float64Array;
    readonly warmStartedImpulse: VecN;
    readonly accumulatedImpulse: VecN;
    readonly finalRelativeVelocity: VecN;
    readonly residualVelocity: VecN;
}
export interface PointJointSolveResult4 {
    readonly joints: readonly PointJointResult4[];
    readonly retiredIds: readonly string[];
    readonly iterations: number;
    readonly totalImpulse: number;
    readonly maxResidualSpeed: number;
    readonly maxAnchorError: number;
}
/**
 * Warm-started R4 point-joint solver.
 *
 * A point joint removes all four components of relative anchor velocity in one
 * coupled solve. Off-centre impulses therefore include the complete 4D
 * translational/rotational response rather than treating axes independently.
 */
export declare class PointJointSolver4 {
    readonly iterations: number;
    readonly baumgarte: number;
    readonly positionSlop: number;
    readonly maxBiasSpeed: number;
    readonly warmStart: boolean;
    private readonly blockSolver;
    constructor(options?: PointJointSolver4Options);
    solve(constraints: readonly PointJointConstraint4[], dt: number): PointJointSolveResult4;
    reset(): void;
}
export type PointJoint4Options = {
    readonly id: string;
    readonly bodyA: RigidBody4;
    readonly localAnchorA: VecN | ArrayLike<number>;
    readonly bodyB: RigidBody4;
    readonly localAnchorB: VecN | ArrayLike<number>;
} | {
    readonly id: string;
    readonly bodyA: RigidBody4;
    readonly localAnchorA: VecN | ArrayLike<number>;
    readonly bodyB?: null;
    readonly worldAnchorB: VecN | ArrayLike<number>;
};
/** Persistent local-anchor binding that resolves a fresh solver constraint. */
export declare class PointJoint4 {
    readonly id: string;
    readonly bodyA: RigidBody4;
    readonly localAnchorA: VecN;
    readonly bodyB: RigidBody4 | null;
    readonly anchorB: VecN;
    constructor(options: PointJoint4Options);
    worldAnchorA(): VecN;
    worldAnchorB(): VecN;
    constraint(): PointJointConstraint4;
}
/** Row-major 4x4 point-impulse response for a bilateral anchor pair. */
export declare function pointJointResponseMatrix4(constraint: PointJointConstraint4): Float64Array;
/** Applies equal and opposite world impulses at the two joint anchors. */
export declare function applyPairPointImpulse4(constraint: PointJointConstraint4, impulseWorld: VecN): void;
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