import { BivectorN, Rotor4, VecN } from '@holotope/core';
import type { MassProperties4 } from './mass-properties4.js';
export interface RigidBody4Options {
    mass: number;
    /** Principal-frame inertia in planes 01,02,03,12,13,23. */
    inertiaDiagonal: ArrayLike<number>;
    position?: VecN | ArrayLike<number>;
    rotation?: Rotor4;
    linearVelocity?: VecN | ArrayLike<number>;
    angularMomentumWorld?: BivectorN | ArrayLike<number>;
    gravityScale?: number;
}
export type RigidBody4StateOptions = Omit<RigidBody4Options, 'mass' | 'inertiaDiagonal'>;
/**
 * A dynamic 4D rigid body whose authoritative angular state is world-frame
 * bivector momentum. Contact/static/kinematic policies are intentionally not
 * part of this ballistic-stage type yet.
 */
export declare class RigidBody4 {
    #private;
    readonly position: VecN;
    rotation: Rotor4;
    readonly linearVelocity: VecN;
    readonly angularMomentumWorld: BivectorN;
    readonly force: VecN;
    readonly torque: BivectorN;
    gravityScale: number;
    constructor(options: RigidBody4Options);
    /** Immutable physical mass. Construct another body to change mass properties. */
    get mass(): number;
    /** Reciprocal of `mass`, kept consistent with it for the body's lifetime. */
    get invMass(): number;
    /**
     * Detached snapshot of principal-frame inertia in `[xy,xz,xw,yz,yw,zw]`
     * order. Mutating the returned array cannot alter the body's dynamics.
     */
    get inertiaDiagonal(): Float64Array;
    /** Detached snapshot of the reciprocal principal inertias. */
    get invInertiaDiagonal(): Float64Array;
    /** Creates a body whose principal frame initially reproduces the source pose. */
    static fromMassProperties(properties: MassProperties4, options?: RigidBody4StateOptions): RigidBody4;
    applyForce(force: VecN | ArrayLike<number>): this;
    applyTorque(torque: BivectorN | ArrayLike<number>): this;
    clearAccumulators(): void;
    angularMomentumBody(rotation?: Rotor4): BivectorN;
    angularVelocityBody(rotation?: Rotor4): BivectorN;
    angularVelocityWorld(rotation?: Rotor4): BivectorN;
    /** Instantaneous world velocity at a world-space point on the body. */
    velocityAtWorldPoint(point: VecN | ArrayLike<number>): VecN;
    /** Applies the world-space inverse inertia operator to an angular impulse. */
    inverseInertiaWorld(angularImpulseWorld: BivectorN, rotation?: Rotor4): BivectorN;
    /**
     * Applies a world-space R4 linear impulse at a world-space R4 point.
     * Both arrays are `[x, y, z, w]`; an impulse at `position` adds no angular
     * momentum, while an offset point contributes the wedge `r ∧ impulse`.
     */
    applyImpulseAtWorldPoint(impulse: VecN | ArrayLike<number>, point: VecN | ArrayLike<number>): this;
    /**
     * Sets world-space R4 angular velocity. The bivector must have six plane
     * coefficients in `[xy, xz, xw, yz, yw, zw]` order; it is converted to the
     * authoritative world-frame angular momentum using this body's inertia.
     */
    setAngularVelocityWorld(velocityWorld: BivectorN): this;
    translationalKineticEnergy(): number;
    rotationalKineticEnergy(): number;
    kineticEnergy(): number;
}
//# sourceMappingURL=rigid-body4.d.ts.map