import { Rotation, Vector } from "../math";
import { RawJointParams, RawJointSet } from "../raw";
import { RigidBodyHandle } from "./rigid_body";
/**
 * The integer identifier of a collider added to a `ColliderSet`.
 */
export declare type JointHandle = number;
/**
 * An enum grouping all possible types of joints:
 * - `Ball`: A Ball joint that removes all relative linear degrees of freedom between the affected bodies.
 * - `Fixed`: A fixed joint that removes all relative degrees of freedom between the affected bodies.
 * - `Prismatic`: A prismatic joint that removes all degrees of freedom between the affected
 *                bodies except for the translation along one axis.
 * - `Revolute`: (3D only) A revolute joint that removes all degrees of freedom between the affected
 *               bodies except for the rotation along one axis.
 */
export declare enum JointType {
    Ball = 0,
    Fixed = 1,
    Prismatic = 2
}
export declare enum SpringModel {
    Disabled = 0,
    VelocityBased = 1,
    AccelerationBased = 2,
    ForceBased = 3
}
export declare class Joint {
    protected rawSet: RawJointSet;
    handle: JointHandle;
    constructor(rawSet: RawJointSet, handle: JointHandle);
    /**
     * Checks if this joint is still valid (i.e. that it has
     * not been deleted from the joint set yet).
     */
    isValid(): boolean;
    /**
     * The unique integer identifier of the first rigid-body this joint it attached to.
     */
    bodyHandle1(): RigidBodyHandle;
    /**
     * The unique integer identifier of the second rigid-body this joint is attached to.
     */
    bodyHandle2(): RigidBodyHandle;
    /**
     * The type of this joint given as a string.
     */
    type(): JointType;
    /**
     * The position of the first anchor of this joint.
     *
     * The first anchor gives the position of the points application point on the
     * local frame of the first rigid-body it is attached to.
     */
    anchor1(): Vector;
    /**
     * The position of the second anchor of this joint.
     *
     * The second anchor gives the position of the points application point on the
     * local frame of the second rigid-body it is attached to.
     */
    anchor2(): Vector;
    /**
     * The first axis of this joint, if any.
     *
     * For joints where an application axis makes sense (e.g. the revolute and prismatic joins),
     * this returns the application axis on the first rigid-body this joint is attached to, expressed
     * in the local-space of this first rigid-body.
     */
    axis1(): Vector;
    /**
     * The second axis of this joint, if any.
     *
     * For joints where an application axis makes sense (e.g. the revolute and prismatic joins),
     * this returns the application axis on the second rigid-body this joint is attached to, expressed
     * in the local-space of this second rigid-body.
     */
    axis2(): Vector;
}
export declare class UnitJoint extends Joint {
    /**
     * Are the limits enabled for this joint?
     */
    limitsEnabled(): boolean;
    /**
     * The min limit of this joint.
     */
    limitsMin(): number;
    /**
     * The max limit of this joint.
     */
    limitsMax(): number;
    configureMotorModel(model: SpringModel): void;
    configureMotorVelocity(targetVel: number, factor: number): void;
    configureMotorPosition(targetPos: number, stiffness: number, damping: number): void;
    configureMotor(targetPos: number, targetVel: number, stiffness: number, damping: number): void;
}
export declare class FixedJoint extends Joint {
}
export declare class PrismaticJoint extends UnitJoint {
}
export declare class BallJoint extends UnitJoint {
}
export declare class JointParams {
    anchor1: Vector;
    anchor2: Vector;
    axis1: Vector;
    axis2: Vector;
    tangent1: Vector;
    tangent2: Vector;
    frame1: Rotation;
    frame2: Rotation;
    jointType: JointType;
    limitsEnabled: boolean;
    limits: Array<number>;
    private constructor();
    /**
     * Create a new joint descriptor that builds Ball joints.
     *
     * A ball joints allows three relative rotational degrees of freedom
     * by preventing any relative translation between the anchors of the
     * two attached rigid-bodies.
     *
     * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
     *                  local-space of the rigid-body.
     * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
     *                  local-space of the rigid-body.
     */
    static ball(anchor1: Vector, anchor2: Vector): JointParams;
    /**
     * Creates a new joint descriptor that builds a Fixed joint.
     *
     * A fixed joint removes all the degrees of freedom between the affected bodies, ensuring their
     * anchor and local frames coincide in world-space.
     *
     * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
     *                  local-space of the rigid-body.
     * @param frame1 - The reference orientation of the joint wrt. the first rigid-body.
     * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
     *                  local-space of the rigid-body.
     * @param frame2 - The reference orientation of the joint wrt. the second rigid-body.
     */
    static fixed(anchor1: Vector, frame1: Rotation, anchor2: Vector, frame2: Rotation): JointParams;
    /**
     * Creates a new joint descriptor that builds a Prismatic joint.
     *
     * A prismatic joint removes all the degrees of freedom between the
     * affected bodies, except for the translation along one axis.
     *
     * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
     *                  local-space of the rigid-body.
     * @param axis1 - Axis of the joint, expressed in the local-space of the first rigid-body it is attached to.
     * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
     *                  local-space of the rigid-body.
     * @param axis2 - Axis of the joint, expressed in the local-space of the second rigid-body it is attached to.
     */
    static prismatic(anchor1: Vector, axis1: Vector, anchor2: Vector, axis2: Vector): JointParams;
    intoRaw(): RawJointParams;
}