/**
 * code based on
 * https://github.com/benikabocha/saba/blob/master/src/Saba/Model/MMD/MMDIkSolver.cpp
 */
import type { PmxObject } from "../Loader/Parser/pmxObject";
import type { MmdRuntimeBone } from "./mmdRuntimeBone";
/**
 * IK solver
 */
export declare class IkSolver {
    /**
     * Ik solver index
     */
    readonly index: number;
    /**
     * Iteration count
     *
     * The higher the value, the more accurate the IK solver will be, but the more expensive it will be
     */
    get iteration(): number;
    set iteration(value: number);
    /**
     * Limit angle
     */
    limitAngle: number;
    /**
     * The bone to which the IK solver is attached
     */
    readonly ikBone: MmdRuntimeBone;
    /**
     * Ik target bone
     */
    readonly targetBone: MmdRuntimeBone;
    private _iteration;
    private readonly _ikChains;
    private _canSkipWhenPhysicsEnabled;
    /**
     * Create a new IK solver
     * @param index Ik solver index
     * @param ikBone Attach bone
     * @param targetBone Ik target bone
     */
    constructor(index: number, ikBone: MmdRuntimeBone, targetBone: MmdRuntimeBone);
    /**
     * Add an IK chain
     *
     * The angle constraint must be either both min max or neither
     *
     * For better performance, we do not constrain this to a type
     * @param bone Bone to add
     * @param isAffectedByPhysics Whether the bone is affected by physics
     * @param limitation Angle limitation
     */
    addIkChain(bone: MmdRuntimeBone, isAffectedByPhysics: boolean, limitation?: PmxObject.Bone.IKLink["limitation"]): void;
    /**
     * If all chains are affected by physics, ik solver can be skipped
     */
    get canSkipWhenPhysicsEnabled(): boolean;
    private static readonly _IkPosition;
    private static readonly _TargetPosition;
    /**
     * Solve IK
     * @param usePhysics Whether to use physics
     */
    solve(usePhysics: boolean): void;
    private static readonly _ChainPosition;
    private static readonly _ChainTargetVector;
    private static readonly _ChainIkVector;
    private static readonly _ChainRotationAxis;
    private static readonly _ChainParentRotationMatrix;
    private static readonly _Axis;
    private static readonly _Rotation;
    private static readonly _RotationMatrix;
    private static readonly _Right;
    private static readonly _Up;
    private static readonly _Forward;
    private static readonly _Rotation2;
    private static readonly _Rotation3;
    private _solveChain;
    private _limitAngle;
}