import { type CellComplex, TransformN, VecN } from '@holotope/core';
import type { ConvexPolytopeTopologyN } from './polytope-topology.js';
/** Stable source feature identity carried through support queries and GJK. */
export type SupportFeatureId = number | string;
export interface SupportVertexN {
    /** Support point in the shape's current/world coordinate frame. */
    readonly point: VecN;
    /** Stable source feature; vertex index for a vertex hull. */
    readonly featureId: SupportFeatureId;
}
/** Minimal convex-shape contract required by dimension-generic GJK. */
export interface SupportShapeN {
    readonly dim: number;
    /** A point inside the convex hull, used only to choose an initial direction. */
    readonly center: VecN;
    /** Farthest point in `direction`; ties must resolve deterministically. */
    support(direction: VecN): SupportVertexN;
    /**
     * Rehydrate a direction-independent source feature at the current pose.
     * Optional because smooth and rounded supports depend on query direction.
     */
    resolveFeature?(featureId: SupportFeatureId): SupportVertexN | undefined;
    /**
     * Enumerate every source vertex when the support shape is a polytope.
     * Smooth and opaque support functions leave this unavailable. Stable feature
     * IDs let contact features survive rigid pose changes.
     */
    enumerateVertices?(): readonly SupportVertexN[] | undefined;
    /** Optional pose-independent incidence compiled from the stable vertex IDs. */
    readonly polytopeTopology?: ConvexPolytopeTopologyN | undefined;
}
/** Returns a validated polytope vertex enumeration, or undefined when absent. */
export declare function supportShapeVerticesN(shape: SupportShapeN): readonly SupportVertexN[] | undefined;
/** Type-preserving canonical key for a numeric or string support feature. */
export declare function supportFeatureKeyN(featureId: SupportFeatureId): string;
/**
 * Convex hull of a packed vertex cloud. Cell topology is not required by GJK;
 * when constructed from a CellComplex, returned feature IDs are its vertex IDs.
 */
export declare class ConvexHullSupportShapeN implements SupportShapeN {
    readonly dim: number;
    readonly positions: Float64Array;
    readonly center: VecN;
    constructor(dim: number, positions: ArrayLike<number>);
    static fromCellComplex(complex: CellComplex): ConvexHullSupportShapeN;
    get vertexCount(): number;
    support(direction: VecN): SupportVertexN;
    resolveFeature(featureId: SupportFeatureId): SupportVertexN | undefined;
    enumerateVertices(): readonly SupportVertexN[];
}
/** Rigid world transform around any local support shape. */
export declare class TransformedSupportShapeN implements SupportShapeN {
    readonly source: SupportShapeN;
    transform: TransformN;
    constructor(source: SupportShapeN, transform?: TransformN);
    get dim(): number;
    get center(): VecN;
    get polytopeTopology(): ConvexPolytopeTopologyN | undefined;
    support(direction: VecN): SupportVertexN;
    resolveFeature(featureId: SupportFeatureId): SupportVertexN | undefined;
    enumerateVertices(): readonly SupportVertexN[] | undefined;
}
/** N-ball (a glome in R4) with analytic support. */
export declare class GlomeSupportShapeN implements SupportShapeN {
    readonly dim: number;
    readonly center: VecN;
    radius: number;
    constructor(center: VecN | ArrayLike<number>, radius: number);
    support(direction: VecN): SupportVertexN;
}
/** Minkowski sum of a convex core with an N-ball margin. */
export declare class RoundedSupportShapeN implements SupportShapeN {
    readonly source: SupportShapeN;
    margin: number;
    constructor(source: SupportShapeN, margin: number);
    get dim(): number;
    get center(): VecN;
    support(direction: VecN): SupportVertexN;
}
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