import { RawBroadPhase, RawCCDSolver, RawColliderSet, RawDeserializedWorld, RawIntegrationParameters, RawIslandManager, RawJointSet, RawNarrowPhase, RawPhysicsPipeline, RawQueryPipeline, RawRigidBodySet, RawSerializationPipeline } from "../raw";
import { BroadPhase, Collider, ColliderDesc, ColliderHandle, ColliderSet, InteractionGroups, NarrowPhase, PointColliderProjection, Ray, RayColliderIntersection, RayColliderToi, Shape, ShapeColliderTOI, TempContactManifold } from "../geometry";
import { CCDSolver, IntegrationParameters, IslandManager, Joint, JointHandle, JointParams, JointSet, RigidBody, RigidBodyDesc, RigidBodyHandle, RigidBodySet } from "../dynamics";
import { Rotation, Vector } from "../math";
import { PhysicsPipeline } from "./physics_pipeline";
import { QueryPipeline } from "./query_pipeline";
import { SerializationPipeline } from "./serialization_pipeline";
import { EventQueue } from "./event_queue";
import { PhysicsHooks } from "./physics_hooks";
/**
 * The physics world.
 *
 * This contains all the data-structures necessary for creating and simulating
 * bodies with contacts, joints, and external forces.
 */
export declare class World {
    gravity: Vector;
    integrationParameters: IntegrationParameters;
    islands: IslandManager;
    broadPhase: BroadPhase;
    narrowPhase: NarrowPhase;
    bodies: RigidBodySet;
    colliders: ColliderSet;
    joints: JointSet;
    ccdSolver: CCDSolver;
    queryPipeline: QueryPipeline;
    physicsPipeline: PhysicsPipeline;
    serializationPipeline: SerializationPipeline;
    /**
     * Release the WASM memory occupied by this physics world.
     *
     * All the fields of this physics world will be freed as well,
     * so there is no need to call their `.free()` methods individually.
     */
    free(): void;
    constructor(gravity: Vector, rawIntegrationParameters?: RawIntegrationParameters, rawIslands?: RawIslandManager, rawBroadPhase?: RawBroadPhase, rawNarrowPhase?: RawNarrowPhase, rawBodies?: RawRigidBodySet, rawColliders?: RawColliderSet, rawJoints?: RawJointSet, rawCCDSolver?: RawCCDSolver, rawQueryPipeline?: RawQueryPipeline, rawPhysicsPipeline?: RawPhysicsPipeline, rawSerializationPipeline?: RawSerializationPipeline);
    static fromRaw(raw: RawDeserializedWorld): World;
    /**
     * Takes a snapshot of this world.
     *
     * Use `World.restoreSnapshot` to create a new physics world with a state identical to
     * the state when `.takeSnapshot()` is called.
     */
    takeSnapshot(): Uint8Array;
    /**
     * Creates a new physics world from a snapshot.
     *
     * This new physics world will be an identical copy of the snapshoted physics world.
     */
    static restoreSnapshot(data: Uint8Array): World;
    /**
     * Advance the simulation by one time step.
     *
     * All events generated by the physics engine are ignored.
     *
     * @param EventQueue - (optional) structure responsible for collecting
     *   events generated by the physics engine.
     */
    step(eventQueue?: EventQueue, hooks?: PhysicsHooks): void;
    /**
     * The current simulation timestep.
     */
    get timestep(): number;
    /**
     * Sets the new simulation timestep.
     *
     * The simulation timestep governs by how much the physics state of the world will
     * be integrated. A simulation timestep should:
     * - be as small as possible. Typical values evolve around 0.016 (assuming the chosen unit is milliseconds,
     * corresponds to the time between two frames of a game running at 60FPS).
     * - not vary too much during the course of the simulation. A timestep with large variations may
     * cause instabilities in the simulation.
     *
     * @param timestep - The timestep length, in milliseconds.
     */
    set timestep(dt: number);
    /**
     * The maximum velocity iterations the velocity-based force constraint solver can make.
     */
    get maxVelocityIterations(): number;
    /**
     * Sets the maximum number of velocity iterations (default: 4).
     *
     * The greater this value is, the most rigid and realistic the physics simulation will be.
     * However a greater number of iterations is more computationally intensive.
     *
     * @param niter - The new maximum number of velocity iterations.
     */
    set maxVelocityIterations(niter: number);
    /**
     * The maximum position iterations the position-based constraint regularization solver can make.
     */
    get maxPositionIterations(): number;
    /**
     * Sets the maximum number of position iterations (default: 1).
     *
     * The greater this value is, the less penetrations will be visible after one timestep where
     * the velocity solver did not converge entirely. Large values will degrade significantly
     * the performance of the simulation.
     *
     * To increase realism of the simulation it is recommended, more efficient, and more effecive,
     * to increase the number of velocity iterations instead of this number of position iterations.
     *
     * @param niter - The new maximum number of position iterations.
     */
    set maxPositionIterations(niter: number);
    /**
     * Creates a new rigid-body from the given rigd-body descriptior.
     *
     * @param body - The description of the rigid-body to create.
     */
    createRigidBody(body: RigidBodyDesc): RigidBody;
    /**
     * Creates a new collider.
     *
     * @param desc - The description of the collider.
     * @param parentHandle - The handle of the rigid-body this collider is attached to.
     */
    createCollider(desc: ColliderDesc, parentHandle?: RigidBodyHandle): Collider;
    /**
     * Creates a new joint from the given joint descriptior.
     *
     * @param joint - The description of the joint to create.
     * @param parent1 - The first rigid-body attached to this joint.
     * @param parent2 - The second rigid-body attached to this joint.
     */
    createJoint(params: JointParams, parent1: RigidBody, parent2: RigidBody): Joint;
    /**
     * Retrieves a rigid-body from its handle.
     *
     * @param handle - The integer handle of the rigid-body to retrieve.
     */
    getRigidBody(handle: RigidBodyHandle): RigidBody;
    /**
     * Retrieves a collider from its handle.
     *
     * @param handle - The integer handle of the collider to retrieve.
     */
    getCollider(handle: ColliderHandle): Collider;
    /**
     * Retrieves a joint from its handle.
     *
     * @param handle - The integer handle of the rigid-body to retrieve.
     */
    getJoint(handle: JointHandle): Joint;
    /**
     * Removes the given rigid-body from this physics world.
     *
     * This will remove this rigid-body as well as all its attached colliders and joints.
     * Every other bodies touching or attached by joints to this rigid-body will be woken-up.
     *
     * @param body - The rigid-body to remove.
     */
    removeRigidBody(body: RigidBody): void;
    /**
     * Removes the given collider from this physics world.
     *
     * @param collider - The collider to remove.
     * @param wakeUp - If set to `true`, the rigid-body this collider is attached to will be awaken.
     */
    removeCollider(collider: Collider, wakeUp: boolean): void;
    /**
     * Removes the given joint from this physics world.
     *
     * @param joint - The joint to remove.
     * @param wakeUp - If set to `true`, the rigid-bodies attached by this joint will be awaken.
     */
    removeJoint(joint: Joint, wakeUp: boolean): void;
    /**
     * Applies the given closure to each collider managed by this physics world.
     *
     * @param f(collider) - The function to apply to each collider managed by this physics world. Called as `f(collider)`.
     */
    forEachCollider(f: (collider: Collider) => void): void;
    /**
     * Applies the given closure to the integer handle of each collider managed by this physics world.
     *
     * @param f(handle) - The function to apply to the integer handle of each collider managed by this physics world. Called as `f(collider)`.
     */
    forEachColliderHandle(f: (handle: ColliderHandle) => void): void;
    /**
     * Applies the given closure to each rigid-body managed by this physics world.
     *
     * @param f(body) - The function to apply to each rigid-body managed by this physics world. Called as `f(collider)`.
     */
    forEachRigidBody(f: (body: RigidBody) => void): void;
    /**
     * Applies the given closure to the integer handle of each rigid-body managed by this physics world.
     *
     * @param f(handle) - The function to apply to the integer handle of each rigid-body managed by this physics world. Called as `f(collider)`.
     */
    forEachRigidBodyHandle(f: (handle: RigidBodyHandle) => void): void;
    /**
     * Applies the given closure to each active rigid-body managed by this physics world.
     *
     * After a short time of inactivity, a rigid-body is automatically deactivated ("asleep") by
     * the physics engine in order to save computational power. A sleeping rigid-body never moves
     * unless it is moved manually by the user.
     *
     * @param f - The function to apply to each active rigid-body managed by this physics world. Called as `f(collider)`.
     */
    forEachActiveRigidBody(f: (body: RigidBody) => void): void;
    /**
     * Applies the given closure to the integer handle of each active rigid-body
     * managed by this physics world.
     *
     * After a short time of inactivity, a rigid-body is automatically deactivated ("asleep") by
     * the physics engine in order to save computational power. A sleeping rigid-body never moves
     * unless it is moved manually by the user.
     *
     * @param f(handle) - The function to apply to the integer handle of each active rigid-body managed by this
     *   physics world. Called as `f(collider)`.
     */
    forEachActiveRigidBodyHandle(f: (handle: RigidBodyHandle) => void): void;
    /**
     * Find the closest intersection between a ray and the physics world.
     *
     * @param ray - The ray to cast.
     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
     *   limits the length of the ray to `ray.dir.norm() * maxToi`.
     * @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its
     *   origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,
     *   whereas `false` implies that all shapes are hollow for this ray-cast.
     * @param groups - Used to filter the colliders that can or cannot be hit by the ray.
     */
    castRay(ray: Ray, maxToi: number, solid: boolean, groups: InteractionGroups): RayColliderToi | null;
    /**
     * Find the closest intersection between a ray and the physics world.
     *
     * This also computes the normal at the hit point.
     * @param ray - The ray to cast.
     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
     *   limits the length of the ray to `ray.dir.norm() * maxToi`.
     * @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its
     *   origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,
     *   whereas `false` implies that all shapes are hollow for this ray-cast.
     * @param groups - Used to filter the colliders that can or cannot be hit by the ray.
     */
    castRayAndGetNormal(ray: Ray, maxToi: number, solid: boolean, groups: InteractionGroups): RayColliderIntersection | null;
    /**
     * Cast a ray and collects all the intersections between a ray and the scene.
     *
     * @param ray - The ray to cast.
     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
     *   limits the length of the ray to `ray.dir.norm() * maxToi`.
     * @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its
     *   origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,
     *   whereas `false` implies that all shapes are hollow for this ray-cast.
     * @param groups - Used to filter the colliders that can or cannot be hit by the ray.
     * @param callback - The callback called once per hit (in no particular order) between a ray and a collider.
     *   If this callback returns `false`, then the cast will stop and no further hits will be detected/reported.
     */
    intersectionsWithRay(ray: Ray, maxToi: number, solid: boolean, groups: InteractionGroups, callback: (intersect: RayColliderIntersection) => boolean): void;
    /**
     * Gets the handle of up to one collider intersecting the given shape.
     *
     * @param shapePos - The position of the shape used for the intersection test.
     * @param shapeRot - The orientation of the shape used for the intersection test.
     * @param shape - The shape used for the intersection test.
     * @param groups - The bit groups and filter associated to the ray, in order to only
     *   hit the colliders with collision groups compatible with the ray's group.
     */
    intersectionWithShape(shapePos: Vector, shapeRot: Rotation, shape: Shape, groups: InteractionGroups): ColliderHandle | null;
    /**
     * Find the projection of a point on the closest collider.
     *
     * @param point - The point to project.
     * @param solid - If this is set to `true` then the collider shapes are considered to
     *   be plain (if the point is located inside of a plain shape, its projection is the point
     *   itself). If it is set to `false` the collider shapes are considered to be hollow
     *   (if the point is located inside of an hollow shape, it is projected on the shape's
     *   boundary).
     * @param groups - The bit groups and filter associated to the point to project, in order to only
     *   project on colliders with collision groups compatible with the ray's group.
     */
    projectPoint(point: Vector, solid: boolean, groups: InteractionGroups): PointColliderProjection | null;
    /**
     * Find all the colliders containing the given point.
     *
     * @param point - The point used for the containment test.
     * @param groups - The bit groups and filter associated to the point to test, in order to only
     *   test on colliders with collision groups compatible with the ray's group.
     * @param callback - A function called with the handles of each collider with a shape
     *   containing the `point`.
     */
    intersectionsWithPoint(point: Vector, groups: InteractionGroups, callback: (handle: ColliderHandle) => boolean): void;
    /**
     * Casts a shape at a constant linear velocity and retrieve the first collider it hits.
     * This is similar to ray-casting except that we are casting a whole shape instead of
     * just a point (the ray origin).
     *
     * @param shapePos - The initial position of the shape to cast.
     * @param shapeRot - The initial rotation of the shape to cast.
     * @param shapeVel - The constant velocity of the shape to cast (i.e. the cast direction).
     * @param shape - The shape to cast.
     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
     *   limits the distance traveled by the shape to `shapeVel.norm() * maxToi`.
     * @param groups - The bit groups and filter associated to the shape to cast, in order to only
     *   test on colliders with collision groups compatible with this group.
     */
    castShape(shapePos: Vector, shapeRot: Rotation, shapeVel: Vector, shape: Shape, maxToi: number, groups: InteractionGroups): ShapeColliderTOI | null;
    /**
     * Retrieve all the colliders intersecting the given shape.
     *
     * @param shapePos - The position of the shape to test.
     * @param shapeRot - The orientation of the shape to test.
     * @param shape - The shape to test.
     * @param groups - The bit groups and filter associated to the shape to test, in order to only
     *   test on colliders with collision groups compatible with this group.
     * @param callback - A function called with the handles of each collider intersecting the `shape`.
     */
    intersectionsWithShape(shapePos: Vector, shapeRot: Rotation, shape: Shape, groups: InteractionGroups, callback: (handle: ColliderHandle) => boolean): void;
    /**
     * Finds the handles of all the colliders with an AABB intersecting the given AABB.
     *
     * @param aabbCenter - The center of the AABB to test.
     * @param aabbHalfExtents - The half-extents of the AABB to test.
     * @param callback - The callback that will be called with the handles of all the colliders
     *                   currently intersecting the given AABB.
     */
    collidersWithAabbIntersectingAabb(aabbCenter: Vector, aabbHalfExtents: Vector, callback: (handle: ColliderHandle) => boolean): void;
    /**
     * Enumerates all the colliders potentially in contact with the given collider.
     *
     * @param collider1 - The second collider involved in the contact.
     * @param f - Closure that will be called on each collider that is in contact with `collider1`.
     */
    contactsWith(collider1: ColliderHandle, f: (collider2: ColliderHandle) => void): void;
    /**
     * Enumerates all the colliders intersecting the given colliders, assuming one of them
     * is a sensor.
     */
    intersectionsWith(collider1: ColliderHandle, f: (collider2: ColliderHandle) => void): void;
    /**
     * Iterates through all the contact manifolds between the given pair of colliders.
     *
     * @param collider1 - The first collider involved in the contact.
     * @param collider2 - The second collider involved in the contact.
     * @param f - Closure that will be called on each contact manifold between the two colliders. If the second argument
     *            passed to this closure is `true`, then the contact manifold data is flipped, i.e., methods like `localNormal1`
     *            actually apply to the `collider2` and fields like `localNormal2` apply to the `collider1`.
     */
    contactPair(collider1: ColliderHandle, collider2: ColliderHandle, f: (manifold: TempContactManifold, flipped: boolean) => void): void;
    /**
     * Returns `true` if `collider1` and `collider2` intersect and at least one of them is a sensor.
     * @param collider1 − The first collider involved in the intersection.
     * @param collider2 − The second collider involved in the intersection.
     */
    intersectionPair(collider1: ColliderHandle, collider2: ColliderHandle): boolean;
}